fixed bugs related to config

config/config.yaml

 connector_node_ros_cgv:
   cgv_address: "tcp://*:6576"
-scene_controller:
-  max_grasp_approach_velocity: 0.2
-  max_grasp_approach_acceleration: 0.2
-  max_grasp_transition_velocity: 0.2
-  max_grasp_transition_acceleration: 0.2
-  tud_grasp_force: 12.5
+max_grasp_approach_velocity: 0.2
+max_grasp_approach_acceleration: 0.2
+max_grasp_transition_velocity: 0.2
+max_grasp_transition_acceleration: 0.2
+tud_grasp_force: 12.5

src/ccf/util/scene_controller_node.cpp

@@ -728,15 +728,15 @@ int main(int argc, char **argv) {
 
         ros::param::get("is_simulated_robot", world_state::is_simulated_robot);
 
-        if (world_state::is_simulated_robot) {
+        if (!world_state::is_simulated_robot) {
 
-            ROS_INFO_STREAM("[SCENECONTROLLER] Using setup for real robot.");
+            ROS_ERROR_STREAM("[SCENECONTROLLER] Using setup for real robot.");
 
 
-            if (!ros::param::has("/scene_controller/max_grasp_approach_velocity") ||
-                !ros::param::has("/scene_controller/max_grasp_approach_acceleration") ||
-                !ros::param::has("/scene_controller/max_grasp_transition_velocity") ||
-                !ros::param::has("/scene_controller/max_grasp_transition_acceleration")) {
+            if (!ros::param::has("max_grasp_approach_velocity") ||
+                !ros::param::has("max_grasp_approach_acceleration") ||
+                !ros::param::has("max_grasp_transition_velocity") ||
+                !ros::param::has("max_grasp_transition_acceleration")) {
 
                 ROS_WARN_STREAM(
                         "[SCENECONTROLLER] Velocities and accelerations are not completely configured. -> Fallback to default value. ");
@@ -746,35 +746,15 @@ int main(int argc, char **argv) {
 
                 ros::param::set("max_grasp_transition_velocity", 0.05);
                 ros::param::set("max_grasp_transition_acceleration", 0.05);
-            } else {
-                double max_grasp_approach_velocity = 0;
-                double max_grasp_approach_acceleration = 0;
-                double max_grasp_transition_velocity = 0;
-                double max_grasp_transition_acceleration = 0;
-
-                ros::param::get("/scene_controller/max_grasp_approach_velocity", max_grasp_approach_velocity);
-                ros::param::get("/scene_controller/max_grasp_approach_acceleration", max_grasp_approach_acceleration);
-
-                ros::param::get("/scene_controller/max_grasp_transition_velocity", max_grasp_transition_velocity);
-                ros::param::get("/scene_controller/max_grasp_transition_acceleration", max_grasp_transition_acceleration);
-
-                ROS_INFO_STREAM(
-                        "[SCENECONTROLLER] Applied max_grasp_approach_velocity " << max_grasp_approach_velocity);
-                ROS_INFO_STREAM("[SCENECONTROLLER] Applied max_grasp_approach_acceleration "
-                                        << max_grasp_approach_acceleration);
-                ROS_INFO_STREAM(
-                        "[SCENECONTROLLER] Applied max_grasp_transition_velocity " << max_grasp_transition_velocity);
-                ROS_INFO_STREAM("[SCENECONTROLLER] Applied max_grasp_transition_acceleration "
-                                        << max_grasp_transition_acceleration);
             }
 
-            if (!ros::param::has("/scene_controller/tud_grasp_force")) {
+            if (!ros::param::has("tud_grasp_force")) {
                 ROS_WARN_STREAM(
                         "[SCENECONTROLLER] Grasp force is not configured. -> Fallback to default value. ");
                 ros::param::set("tud_grasp_force", 9.5);
             } else {
                 double tud_grasp_fource = 0;
-                ros::param::get("/scene_controller/tud_grasp_force", tud_grasp_fource);
+                ros::param::get("tud_grasp_force", tud_grasp_fource);
                 ROS_INFO_STREAM("[SCENECONTROLLER] Applied tud_grasp_force " << tud_grasp_fource);
             }
         }