From 17c0d795bfe41d2ccdd4e80fc5f1ab418f9bf224 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Tue, 3 Aug 2021 17:33:01 +0200
Subject: [PATCH] fixed bugs related to config
---
config/config.yaml | 11 ++++----
src/ccf/util/scene_controller_node.cpp | 36 ++++++--------------------
2 files changed, 13 insertions(+), 34 deletions(-)
diff --git a/config/config.yaml b/config/config.yaml
index e706283..97af7cc 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -1,8 +1,7 @@
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
diff --git a/src/ccf/util/scene_controller_node.cpp b/src/ccf/util/scene_controller_node.cpp
index 45bdbad..c265474 100644
--- a/src/ccf/util/scene_controller_node.cpp
+++ b/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);
}
}
--
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