From 0bc8a8d52e9ea2869a7eb9c628daa8271e902a84 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 1 Sep 2021 17:46:28 +0200
Subject: [PATCH] many fixes, removed launch files
---
README.md | 122 +-----------------
config/config.yaml | 2 +-
config/config_scene.yaml | 20 ---
.../dummy_rag_connector_b_robot_1.launch | 7 -
.../dummy_rag_connector_b_robot_2.launch | 7 -
launch/cleaning/cleaning_dummy_cgv.launch | 3 -
.../cleaning/cleaning_dummy_controller.launch | 11 --
...ning_dummy_controller_and_dummy_cgv.launch | 4 -
...g_dummy_main_dummy_client_dummy_cgv.launch | 11 --
...leaning_dummy_main_simulated_client.launch | 13 --
.../cleaning/cleaning_robot_controller.launch | 18 ---
...ning_robot_controller_and_dummy_cgv.launch | 4 -
...leaning_simulated_main_dummy_client.launch | 13 --
launch/cleaning/cleaning_simulation.launch | 13 --
.../cleaning_simulation_and_dummy_cgv.launch | 4 -
..._robot_setup.launch => robot_setup.launch} | 2 -
...n_setup.launch => simulation_setup.launch} | 2 -
proto/connector.proto | 4 +-
scripts/debug_init_full_scene | 7 -
scripts/debug_init_scene | 7 -
scripts/debug_pick_object | 4 -
scripts/debug_place_object | 3 -
src/controller/DummyRobotArmController.cpp | 4 +-
src/controller/MoveItRobotArmController.cpp | 2 +-
src/controller/RobotArmController.cpp | 24 ++--
src/util/scene_controller_node.cpp | 12 +-
26 files changed, 25 insertions(+), 298 deletions(-)
delete mode 100644 config/config_scene.yaml
delete mode 100644 launch/cell-sync/dummy_rag_connector_b_robot_1.launch
delete mode 100644 launch/cell-sync/dummy_rag_connector_b_robot_2.launch
delete mode 100644 launch/cleaning/cleaning_dummy_cgv.launch
delete mode 100644 launch/cleaning/cleaning_dummy_controller.launch
delete mode 100644 launch/cleaning/cleaning_dummy_controller_and_dummy_cgv.launch
delete mode 100644 launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
delete mode 100644 launch/cleaning/cleaning_dummy_main_simulated_client.launch
delete mode 100644 launch/cleaning/cleaning_robot_controller.launch
delete mode 100644 launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch
delete mode 100644 launch/cleaning/cleaning_simulated_main_dummy_client.launch
delete mode 100644 launch/cleaning/cleaning_simulation.launch
delete mode 100644 launch/cleaning/cleaning_simulation_and_dummy_cgv.launch
rename launch/{cleaning/_robot_setup.launch => robot_setup.launch} (96%)
rename launch/{cleaning/_simulation_setup.launch => simulation_setup.launch} (89%)
delete mode 100755 scripts/debug_init_full_scene
delete mode 100755 scripts/debug_init_scene
delete mode 100755 scripts/debug_pick_object
delete mode 100755 scripts/debug_place_object
diff --git a/README.md b/README.md
index 9578719..466a943 100644
--- a/README.md
+++ b/README.md
@@ -1,123 +1,3 @@
# CCF: The CeTI Cobotic Framework
-**TODO** the documentation does not represent the current state of the framework and needs to be updated!
-
-This ROS package provides a connection between a ROS-based model and the [CGV framework](https://github.com/sgumhold/cgv).
-The purpose of this connection is to use the CGV framework to select and move elements from a scene provided by ROS
-using an AR controller.
-
-For the communication between the two components, messages encoded using
-[Protocol Buffers](https://developers.google.com/protocol-buffers) (v3) are exchanged using
-[NNG](https://nng.nanomsg.org/).
-
-Since the package is under active development, it contains several demonstrators in varying development states.
-In particular, besides the main demonstrator it contains several tests of NNG communication patterns that can be used
-for internal and external testing.
-
-## Generating the ROS-Documentation
-
-- Source the workspace
- ```
- $ source devel/setup.bash
- ```
-- Generate the documentation
- ```
- $ rosdoc_lite `rospack find ccf`
- ```
-- You can view the generated files in you browser by opening the generated `index.html`
- ```
- xdg-open `rospack find ccf`/doc/html/index.html
- ```
-## Running the Tests
-
-1. Build the package (this is not done automatically by the following commands)
- ```bash
- catkin build
- ```
-2. Build the tests
- ```bash
- catkin build --make-args tests
- ```
-3. Run the tests
- ```bash
- rostest -t ccf test_NodeUtil.test
- ```
-
-## CGV Dummy Controller Demonstrator
-
-This demonstrator contains two mock-up nodes that can serve as stand-ins for future functional implementations.
-
-- `dummy_cgv` is a mock-up of the cgv framework. it connects to the ROS `ccf` and waits for it to send a scene.
- Once a `Scene` is received, it waits two seconds and then sends a selection of a random `Box` from the scene (if there
- is one). After another two seconds, the `bin` is selected.
-- `dummy_ccf` is a mock-up of the ros end of the connection, accepting connections from the CGV framework.
- When receiving a message on topic `/ccf/send_scene`, it sends a scene to the framework. It furthermore is
- able to receive object `Selection` messages (and currently simply prints a notification).
-
-### Running the Example
-- Checkout the project using git.
- Since the CMake build uses git submodules, do not remove the git information!
- It is not required to checkout the submodule manually, this is done using CMake.
-- Build the project.
-- Start ROS
- ```
- $ roscore
- ```
-- Start the `dummy_cgv_controller` and `dummy_cgv` nodes in two terminals.
- Both are in the `ccf` namespace.
- ```
- $ rosrun ccf dummy_cgv_controller
- ```
- Note that the dummy_cgv tries to connect to the dummy_cgv_controller, so as long as the latter is not running,
- warnings are logged.
- ```
- $ rosrun ccf dummy_cgv
- ```
-- Trigger a transmission by publishing a string message to `/ccf/send_scene`.
- ```
- $ rostopic pub -1 /ccf/send_scene std_msgs/String "Some Message"
- ```
- The `dummy_cgv` node command will show the received scene. With a delay of two seconds, selections of a box and a bin
- will be logged by the `dummy_cgv_controller`
-
-### Running the demo
-
-#### Configuration
-
-- configure the scene (*not* required when using the dummy controller):
- ```bash
- rostopic pub -1 /scene_config std_msgs/String "\"$(roscat ccf config_scene.yaml)\""
- ```
-
-#### Execution
-
-- pick an object by id: `rostopic pub -1 /robot/pick std_msgs/String "objectRed1"`
-- place a picked object into a bin by id: `rostopic pub -1 /robot/place std_msgs/String "binRed"`
-
-### Connect to the CGV framework
-
-- **CASE 1** The robot controller is *not* accepting connections, but the AR server is.
- - ensure a SSH server is running on the AR server
- - On the robot controller, connect to it
- ```
- ssh stadmin@141.76.65.71 -R 6576:localhost:6576
- ```
-
-### Using the Example with Docker
-
-The following instructions can be used to run either the cgv dummy or the ros-connector dummy from within a docker container.
-All commands involving docker must be run as root or as a user with docker privileges.
-
-- Create a container called `ccf`
- ```
- $ docker build --tag ccf .
- ```
-- Run the container, exposing the port the receiver listens on, `6576`.
- ```
- $ docker run -it -p 6576:6576 ros4ceti/cgv:latest roslaunch ccf dummy_cgv_controller.launch
- ```
- Run the CGV dummy:
- ```
- $ docker run -it --network host ros4ceti/cgv:latest roslaunch ccf dummy_cgv.launch
- ```
-- The dummy_cgv_controller now is available and awaits NNG messages at `localhost:6576`.
+**TODO** An updated documentation will follow soon.
\ No newline at end of file
diff --git a/config/config.yaml b/config/config.yaml
index 0056a34..a81eb7d 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -1,4 +1,4 @@
-connector_node_ros_cgv:
+connector_node_ros_ccf:
topics:
selection: "selection"
max_grasp_approach_velocity: 0.2
diff --git a/config/config_scene.yaml b/config/config_scene.yaml
deleted file mode 100644
index 2620d0c..0000000
--- a/config/config_scene.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-{ 'objects': [
- { 'id': 'tablePillar1','pos': { 'x': 0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'tablePillar2','pos': { 'x': -0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'tablePillar3','pos': { 'x': -0.77,'y': 0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'tablePillar4','pos': { 'x': 0.77,'y': -0.77,'z': 0.325 },'size': { 'length': 0.06,'width': 0.06,'height': 0.65 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'table','pos': { 'z': 0.7 },'size': { 'length': 1.6,'width': 1.6,'height': 0.1 },'orientation': { 'w': 1 },'color': { 'r': 255,'g': 222,'b': 173 } },
- { 'id': 'binBlue','type': 'BIN','pos': { 'x': -0.34,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'b': 1 } },
- { 'id': 'binRed','type': 'BIN','pos': { 'x': 0.06,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
- { 'id': 'binGreen','type': 'BIN','pos': { 'x': 0.46,'y': 0.49,'z': 0.8325 },'size': { 'length': 0.21,'width': 0.3,'height': 0.165 },'orientation': { 'w': 1 },'color': { 'g': 1 } },
- { 'id': 'objectRed1','type': 'BOX','pos': { 'x': 0.5,'y': -0.1,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
- { 'id': 'objectRed2','type': 'BOX','pos': { 'x': 0.25,'y': -0.2,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'w': 1 },'color': { 'r': 1 } },
- { 'id': 'objectRed3','type': 'BOX','pos': { 'x': -0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'r': 1 } },
- { 'id': 'objectGreen1','type': 'BOX','pos': { 'x': 0.45,'y': -0.3,'z': 0.8105 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
- { 'id': 'objectGreen2','type': 'BOX','pos': { 'x': -0.45,'y': -0.2,'z': 0.8105 },'size': {'length':0.031,'width':0.031,'height':0.138},'orientation': { 'z': 1,'w': 0.92388 },'color': { 'g': 1 } },
- { 'id': 'objectGreen3','type': 'BOX','pos': { 'x': 0.1,'y': -0.3,'z': 0.819 },'size': {'length':0.031,'width':0.062,'height':0.121},'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'g': 1 } },
- { 'id': 'objectBlue1','type': 'BOX','pos': { 'x': 0.25,'y': -0.4,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
- { 'id': 'objectBlue2','type': 'BOX','pos': { 'x': -0.3,'y': -0.3,'z': 0.8105 },'size': { 'length': 0.031,'width': 0.062,'height': 0.121 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
- { 'id': 'objectBlue3','type': 'BOX','pos': { 'x': 0.4,'z': 0.819 },'size': { 'length': 0.031,'width': 0.031,'height': 0.138 },'orientation': { 'z': 0.382683,'w': 0.92388 },'color': { 'b': 1 } },
- { 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
-] }
diff --git a/launch/cell-sync/dummy_rag_connector_b_robot_1.launch b/launch/cell-sync/dummy_rag_connector_b_robot_1.launch
deleted file mode 100644
index 29671f5..0000000
--- a/launch/cell-sync/dummy_rag_connector_b_robot_1.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
- <node pkg="ccf" type="dummy_rag_connector_b" name="dummy_rag_connector_b_1" output="screen">
- <rosparam param="/ccf/place_b_prefix">place-b-1</rosparam>
- </node>
-
-</launch>
diff --git a/launch/cell-sync/dummy_rag_connector_b_robot_2.launch b/launch/cell-sync/dummy_rag_connector_b_robot_2.launch
deleted file mode 100644
index 59bd68c..0000000
--- a/launch/cell-sync/dummy_rag_connector_b_robot_2.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
- <node pkg="ccf" type="dummy_rag_connector_b" name="dummy_rag_connector_b_2" output="screen">
- <rosparam param="/ccf/place_b_prefix">place-b-2</rosparam>
- </node>
-
-</launch>
diff --git a/launch/cleaning/cleaning_dummy_cgv.launch b/launch/cleaning/cleaning_dummy_cgv.launch
deleted file mode 100644
index 3632dc3..0000000
--- a/launch/cleaning/cleaning_dummy_cgv.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
- <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-</launch>
diff --git a/launch/cleaning/cleaning_dummy_controller.launch b/launch/cleaning/cleaning_dummy_controller.launch
deleted file mode 100644
index 7ce2c9c..0000000
--- a/launch/cleaning/cleaning_dummy_controller.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
-
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
-
- <node pkg="ccf" type="dummy_cgv_controller" name="my_dummy_cgv_controller" output="screen">
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- </node>
-
-</launch>
diff --git a/launch/cleaning/cleaning_dummy_controller_and_dummy_cgv.launch b/launch/cleaning/cleaning_dummy_controller_and_dummy_cgv.launch
deleted file mode 100644
index 0caf484..0000000
--- a/launch/cleaning/cleaning_dummy_controller_and_dummy_cgv.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
- <include file="$(find ccf)/launch/cleaning/cleaning_dummy_controller.launch" />
-</launch>
diff --git a/launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch b/launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
deleted file mode 100644
index 8bb339e..0000000
--- a/launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
- <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
- <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- </node>
- <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6586" />
- <param name="client_controllers" type="yaml" value="[]" />
- </node>
-</launch>
diff --git a/launch/cleaning/cleaning_dummy_main_simulated_client.launch b/launch/cleaning/cleaning_dummy_main_simulated_client.launch
deleted file mode 100644
index 8ccce61..0000000
--- a/launch/cleaning/cleaning_dummy_main_simulated_client.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
- <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
-
- <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
- <node pkg="ccf" type="moveit_cgv_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- </node>
- <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6586" />
- <param name="client_controllers" type="yaml" value="[]" />
- </node>
-</launch>
diff --git a/launch/cleaning/cleaning_robot_controller.launch b/launch/cleaning/cleaning_robot_controller.launch
deleted file mode 100644
index 206780e..0000000
--- a/launch/cleaning/cleaning_robot_controller.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<launch>
-
- <arg name="robot_ip" default="172.31.1.13" />
- <arg name="load_gripper" default="true" />
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
-
- <include file="$(find ccf)/launch/cleaning/_robot_setup.launch" >
- <arg name="robot_ip" value="$(arg robot_ip)" />
- <arg name="load_gripper" value="$(arg load_gripper)"/>
- </include>
-
- <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- </node>
-
-</launch>
\ No newline at end of file
diff --git a/launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch b/launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch
deleted file mode 100644
index 190cb85..0000000
--- a/launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
- <include file="$(find ccf)/launch/cleaning/cleaning_robot_controller.launch" />
-</launch>
diff --git a/launch/cleaning/cleaning_simulated_main_dummy_client.launch b/launch/cleaning/cleaning_simulated_main_dummy_client.launch
deleted file mode 100644
index ef9f1eb..0000000
--- a/launch/cleaning/cleaning_simulated_main_dummy_client.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
- <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
-
- <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
- <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6576" />
- <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
- </node>
- <node pkg="ccf" type="moveit_cgv_controller" name="client_controller" output="screen">
- <param name="connection_address" type="string" value="tcp://*:6586" />
- <param name="client_controllers" type="yaml" value="[]" />
- </node>
-</launch>
diff --git a/launch/cleaning/cleaning_simulation.launch b/launch/cleaning/cleaning_simulation.launch
deleted file mode 100644
index f9b5a6c..0000000
--- a/launch/cleaning/cleaning_simulation.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
-
- <arg name="connection_address" default="tcp://*:6576" />
- <arg name="client_controllers" default="[]" />
-
- <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
-
- <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" >
- <param name="connection_address" type="string" value="$(arg connection_address)" />
- <param name="client_controllers" type="yaml" value="$(arg client_controllers)" />
- </node>
-
-</launch>
\ No newline at end of file
diff --git a/launch/cleaning/cleaning_simulation_and_dummy_cgv.launch b/launch/cleaning/cleaning_simulation_and_dummy_cgv.launch
deleted file mode 100644
index 96d7379..0000000
--- a/launch/cleaning/cleaning_simulation_and_dummy_cgv.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
- <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
- <include file="$(find ccf)/launch/cleaning/cleaning_simulation.launch" />
-</launch>
diff --git a/launch/cleaning/_robot_setup.launch b/launch/robot_setup.launch
similarity index 96%
rename from launch/cleaning/_robot_setup.launch
rename to launch/robot_setup.launch
index 0e82cf7..43c62f2 100644
--- a/launch/cleaning/_robot_setup.launch
+++ b/launch/robot_setup.launch
@@ -34,6 +34,4 @@
<node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
- <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
</launch>
\ No newline at end of file
diff --git a/launch/cleaning/_simulation_setup.launch b/launch/simulation_setup.launch
similarity index 89%
rename from launch/cleaning/_simulation_setup.launch
rename to launch/simulation_setup.launch
index ed05f84..9e1fe64 100644
--- a/launch/cleaning/_simulation_setup.launch
+++ b/launch/simulation_setup.launch
@@ -13,6 +13,4 @@
<node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
- <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
</launch>
\ No newline at end of file
diff --git a/proto/connector.proto b/proto/connector.proto
index fe23e0b..f6415d0 100644
--- a/proto/connector.proto
+++ b/proto/connector.proto
@@ -48,12 +48,12 @@ message Object {
Color color = 6;
}
-// the scene is stored within the ROS side and sent to the CGV framework
+// the scene is stored within the ROS side and sent to clients
message Scene {
repeated Object objects = 1;
}
-// the selection is done by the CGV framework and sent to ROS
+// the selection is done by a client and sent to ROS
message Selection {
string id = 1; // the id corresponds to an id of an Object in a Scene
}
diff --git a/scripts/debug_init_full_scene b/scripts/debug_init_full_scene
deleted file mode 100755
index d3a55b2..0000000
--- a/scripts/debug_init_full_scene
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-
-rostopic pub -1 /scene_config/collision_table std_msgs/String -f `rospack find ccf`/config_table.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_bin std_msgs/String -f `rospack find ccf`/config_bins.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_objects_full.yaml
diff --git a/scripts/debug_init_scene b/scripts/debug_init_scene
deleted file mode 100755
index 717f901..0000000
--- a/scripts/debug_init_scene
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/bash
-
-rostopic pub -1 /scene_config/collision_table std_msgs/String -f `rospack find ccf`/config_table.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_bin std_msgs/String -f `rospack find ccf`/config_bin.yaml
-sleep 3
-rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_objects.yaml
diff --git a/scripts/debug_pick_object b/scripts/debug_pick_object
deleted file mode 100755
index 39f23a6..0000000
--- a/scripts/debug_pick_object
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash
-
-rostopic pub -1 /robot/pick std_msgs/String "object1"
-
diff --git a/scripts/debug_place_object b/scripts/debug_place_object
deleted file mode 100755
index 6880230..0000000
--- a/scripts/debug_place_object
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-
-rostopic pub -1 /robot/place std_msgs/String "bin"
diff --git a/src/controller/DummyRobotArmController.cpp b/src/controller/DummyRobotArmController.cpp
index 55a1825..da78475 100644
--- a/src/controller/DummyRobotArmController.cpp
+++ b/src/controller/DummyRobotArmController.cpp
@@ -10,7 +10,7 @@
bool DummyRobotArmController::pickAndDrop(Object &robot, Object &object, Object &bin, bool simulateOnly) {
- ROS_INFO_STREAM("[ros2cgv-dummy] \"Picking and dropping\" for 3 seconds...");
+ ROS_INFO_STREAM("[DummyRobotArmController] \"Picking and dropping\" for 3 seconds...");
bool result = RobotArmController::pickAndDrop(robot, object, bin, simulateOnly);
ros::Rate(ros::Duration(3)).sleep();
sendScene();
@@ -18,7 +18,7 @@ bool DummyRobotArmController::pickAndDrop(Object &robot, Object &object, Object
}
bool DummyRobotArmController::pickAndPlace(Object &robot, Object &object, Object &location, bool simulateOnly) {
- ROS_INFO_STREAM("[ros2cgv-dummy] \"Picking and placing\" for 3 seconds...");
+ ROS_INFO_STREAM("[DummyRobotArmController] \"Picking and placing\" for 3 seconds...");
bool result = RobotArmController::pickAndPlace(robot, object, location, simulateOnly);
ros::Rate(ros::Duration(3)).sleep();
return result;
diff --git a/src/controller/MoveItRobotArmController.cpp b/src/controller/MoveItRobotArmController.cpp
index 1ba6e3a..3f05cee 100644
--- a/src/controller/MoveItRobotArmController.cpp
+++ b/src/controller/MoveItRobotArmController.cpp
@@ -152,7 +152,7 @@ MoveItRobotArmController::MoveItRobotArmController(ros::NodeHandle &nodeHandle,
bin_check_client = nodeHandle.serviceClient<ccf::BinCheck>("/scene_controller/check_bin_service");
get_scene_service = nodeHandle.advertiseService<ccf::SceneUpdateRequest, ccf::SceneUpdateResponse>(
- "updateCgvScene",
+ "updateCcfScene",
[this](auto &req, auto &res) {
ROS_INFO_STREAM("[MoveItRobotArmController] Received a scene update from the controller.");
updateScene(req);
diff --git a/src/controller/RobotArmController.cpp b/src/controller/RobotArmController.cpp
index 9b39591..d68bf18 100644
--- a/src/controller/RobotArmController.cpp
+++ b/src/controller/RobotArmController.cpp
@@ -14,7 +14,7 @@
using CetiRosToolbox::getParameter;
void RobotArmController::receive(const std::string &channel, const std::string &data) {
- ROS_WARN_STREAM("[ros2cgv] Received message on channel " << channel << ".");
+ ROS_WARN_STREAM("[RobotArmController] Received message on channel " << channel << ".");
if (channel == selectionTopic) {
Selection selection;
selection.ParseFromString(data);
@@ -28,7 +28,7 @@ void RobotArmController::receive(const std::string &channel, const std::string &
pickPlace.ParseFromString(data);
pickPlaceAction(pickPlace);
} else {
- ROS_WARN_STREAM("[ros2cgv] Received ignored message on channel " << channel << ": " << data);
+ ROS_WARN_STREAM("[RobotArmController] Received ignored message on channel " << channel << ": " << data);
}
}
@@ -44,12 +44,12 @@ Object *RobotArmController::resolveObject(const std::string &id) {
void RobotArmController::sendScene() {
if (scene) { // meaning if the (smart) pointer is not a nullptr
- ROS_INFO_STREAM("[ros2cgv] Sending scene with " << scene->objects().size() << " objects.");
+ ROS_INFO_STREAM("[RobotArmController] Sending scene with " << scene->objects().size() << " objects.");
sendToAll(sendSceneTopic, scene->SerializeAsString());
sceneUpdateAction();
} else {
- ROS_WARN_STREAM("[ros2cgv] Scene is not initialized yet. not sending it.");
+ ROS_WARN_STREAM("[RobotArmController] Scene is not initialized yet. not sending it.");
}
}
@@ -57,7 +57,7 @@ bool RobotArmController::removeObject(const Object &object) {
for (auto it = scene->mutable_objects()->begin(); it != scene->mutable_objects()->end(); ++it) {
if (it->id() == object.id()) {
- ROS_INFO_STREAM("[ros2cgv] Erasing " << it->id() << " from scene.");
+ ROS_INFO_STREAM("[RobotArmController] Erasing " << it->id() << " from scene.");
scene->mutable_objects()->erase(it);
return true;
}
@@ -71,9 +71,9 @@ bool RobotArmController::pickAndDrop(Object &robot, Object &object, Object &bin,
void RobotArmController::initScene(const Scene &newScene) {
if (scene) { // meaning if the (smart) pointer is not a nullptr
- ROS_INFO_STREAM("[ros2cgv] Resetting scene.");
+ ROS_INFO_STREAM("[RobotArmController] Resetting scene.");
} else {
- ROS_INFO_STREAM("[ros2cgv] Initializing scene.");
+ ROS_INFO_STREAM("[RobotArmController] Initializing scene.");
}
scene = std::make_unique<Scene>(newScene);
ROS_INFO_STREAM("The new scene has " << scene->objects().size() << " objects.");
@@ -132,7 +132,7 @@ void RobotArmController::loadScene(const std::string &sceneFile) {
std::ifstream t(sceneFile);
if (!t.is_open()) {
- ROS_ERROR_STREAM("[ros2cgv-dummy] Unable to open scene config file " << sceneFile);
+ ROS_ERROR_STREAM("[RobotArmController] Unable to open scene config file " << sceneFile);
}
std::string str;
@@ -147,17 +147,17 @@ void RobotArmController::loadScene(const std::string &sceneFile) {
Scene newScene;
google::protobuf::util::Status status = google::protobuf::util::JsonStringToMessage(str, &newScene);
if (!status.ok()) {
- ROS_ERROR_STREAM("[ros2cgv-dummy] Unable to parse Json String: " << status.ToString());
+ ROS_ERROR_STREAM("[RobotArmController] Unable to parse Json String: " << status.ToString());
} else {
- ROS_INFO_STREAM("[ros2cgv-dummy] Parsed a scene with " << newScene.objects().size() << " objects.");
+ ROS_INFO_STREAM("[RobotArmController] Parsed a scene with " << newScene.objects().size() << " objects.");
initScene(newScene);
}
std::string s;
if (google::protobuf::TextFormat::PrintToString(newScene, &s)) {
- ROS_DEBUG_STREAM("[ros2cgv-dummy] Received scene" << std::endl << s);
+ ROS_DEBUG_STREAM("[RobotArmController] Received scene" << std::endl << s);
} else {
- ROS_WARN_STREAM("[ros2cgv-dummy] Scene invalid! partial content: " << newScene.ShortDebugString());
+ ROS_WARN_STREAM("[RobotArmController] Scene invalid! partial content: " << newScene.ShortDebugString());
}
}
diff --git a/src/util/scene_controller_node.cpp b/src/util/scene_controller_node.cpp
index c265474..c491346 100644
--- a/src/util/scene_controller_node.cpp
+++ b/src/util/scene_controller_node.cpp
@@ -107,9 +107,9 @@ int getNumOfBins() {
}
/**
- * Constructs an scene-update-object and sends it via nng to the cgv-framework.
- * @param n a valid nodehandle
- * @return true on successfull transmission
+ * Constructs an scene-update-object and updates it in the CCF controller.
+ * @param n a valid node handle
+ * @return true on successful transmission
*/
bool pushSceneUpdate(ros::NodeHandle &n) {
@@ -160,7 +160,7 @@ bool pushSceneUpdate(ros::NodeHandle &n) {
req.transform.z = world_state::current_transform.z;
- ros::ServiceClient client = n.serviceClient<ccf::SceneUpdate>("/connector_node_ros_cgv/updateCgvScene");
+ ros::ServiceClient client = n.serviceClient<ccf::SceneUpdate>("/connector_node_ros_ccf/updateCcfScene");
ccf::SceneUpdate srv;
srv.request = req;
return client.call(srv);
@@ -185,7 +185,7 @@ bool configTable(Scene &table_scene, moveit::planning_interface::PlanningSceneIn
}
/**
- * Configures the bins and triggers an update to the cgv framework.
+ * Configures the bins and triggers an update in the CCF controller.
* @param planning_scene_interface a valid PlanningSceneInterface instance
* @param n a valid nodehandle
*/
@@ -290,7 +290,7 @@ Scene applyInputTransformation(const Scene &scene) {
/**
- * Configures and updates the objects to pick/place and triggers an update to the cgv framework.
+ * Configures and updates the objects to pick/place and triggers an update in the CCF controller.
* @param msg a message containing the scene
* @param planning_scene_interface a valid PlanningSceneInterface instance
* @param n a valid nodehandle
--
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