diff --git a/src/dummy_cgv_controller.cpp b/src/dummy_cgv_controller.cpp index 5714c2f3f7d1784db5e53b22dd05ba6dda478bac..8e03d60c03825c6ee3e5b7794ece422641b0ac53 100644 --- a/src/dummy_cgv_controller.cpp +++ b/src/dummy_cgv_controller.cpp @@ -19,7 +19,7 @@ #include "ccf/connection/NngConnection.h" #include "ccf/util/NodeUtil.h" -std::string NODE_NAME; +std::string NODE_NAME = "dummy_cgv_controller"; using CetiRosToolbox::getParameter; using CetiRosToolbox::getPrivateParameter; @@ -28,8 +28,8 @@ int main(int argc, char **argv) { GOOGLE_PROTOBUF_VERIFY_VERSION; - NODE_NAME = ros::this_node::getName(); ros::init(argc, argv, NODE_NAME); + NODE_NAME = ros::this_node::getName(); ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the connection_address is @@ -50,6 +50,7 @@ int main(int argc, char **argv) { ROS_INFO_STREAM("[" << NODE_NAME << "] Connecting to client at " << client << "."); std::unique_ptr<NngConnection> client_connection = std::make_unique<NngConnection>(client, false); client_connection->setSendTopic(getParameter<std::string>(n, "topics/selection", "selection")); + client_connection->setReceiveTopic("client_scene"); connector.addConnection(std::move(client_connection)); } diff --git a/src/moveit_cgv_controller.cpp b/src/moveit_cgv_controller.cpp index d38f637b50df1580e83bf013b676ff9c9c53b322..c8b548cd4aaaec5042e6aa101f6140bbed225ff8 100644 --- a/src/moveit_cgv_controller.cpp +++ b/src/moveit_cgv_controller.cpp @@ -18,7 +18,7 @@ #include "ccf/connection/NngConnection.h" #include "ccf/util/NodeUtil.h" -std::string NODE_NAME; +std::string NODE_NAME = "moveit_cgv_controller"; using CetiRosToolbox::getParameter; using CetiRosToolbox::getPrivateParameter; @@ -27,8 +27,8 @@ int main(int argc, char **argv) { GOOGLE_PROTOBUF_VERIFY_VERSION; - NODE_NAME = ros::this_node::getName(); ros::init(argc, argv, NODE_NAME); + NODE_NAME = ros::this_node::getName(); ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the connection_address is @@ -49,6 +49,7 @@ int main(int argc, char **argv) { ROS_INFO_STREAM("[" << NODE_NAME << "] Connecting to client at " << client << "."); std::unique_ptr<NngConnection> client_connection = std::make_unique<NngConnection>(client, false); client_connection->setSendTopic(getParameter<std::string>(n, "topics/selection", "selection")); + client_connection->setReceiveTopic("client_scene"); connector.addConnection(std::move(client_connection)); }