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Commit 76cbefbd authored by Sebastian Ebert's avatar Sebastian Ebert
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fixed merge request flaws

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config/config.yaml
+ 8
− 6
View file @ 76cbefbd
cgv_address: "tcp://*:6576" connector_node_ros_cgv:
max_grasp_approach_velocity: 0.2 cgv_address: "tcp://*:6576"
max_grasp_approach_acceleration: 0.2 scene_controller:
max_grasp_transition_velocity: 0.2 max_grasp_approach_velocity: 0.2
max_grasp_transition_acceleration: 0.2 max_grasp_approach_acceleration: 0.2
tud_grasp_force: 12.5 max_grasp_transition_velocity: 0.2
max_grasp_transition_acceleration: 0.2
tud_grasp_force: 12.5
config/config_pick_place_scene.json
+ 21
− 20
View file @ 76cbefbd
{ "objects": [ "{ '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': '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': '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': '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': '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': '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": "DROP_OFF_LOCATION","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': '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": "DROP_OFF_LOCATION","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': '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": "DROP_OFF_LOCATION","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': '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': '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': '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': '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': '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": 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': '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': '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': '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': '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 } } { 'id': 'arm','type': 'ARM','pos': { 'z': 0.75 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] } ] }"
config/config_scene.yaml
+ 20
− 20
View file @ 76cbefbd
"{ 'objects': [ { "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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": "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 } } { "id": "arm","type": "ARM","pos": { "z": 0.75 },"size": { },"orientation": { "w": 1 },"color": { "r": 1.00,"g": 1.00,"b": 1.00 } }
] }" ] }
src/ccf/util/scene_controller_node.cpp
+ 12
− 12
View file @ 76cbefbd
...@@ -712,7 +712,7 @@ bool pickAndDropObjectCallback(ccf::PickDropService::Request &req, ...@@ -712,7 +712,7 @@ bool pickAndDropObjectCallback(ccf::PickDropService::Request &req,
int main(int argc, char **argv) { int main(int argc, char **argv) {
ros::init(argc, argv, "scene_controller"); ros::init(argc, argv, "scene_controller");
ros::NodeHandle n; ros::NodeHandle n("scene_controller");
ros::AsyncSpinner spinner(7); ros::AsyncSpinner spinner(7);
spinner.start(); spinner.start();
...@@ -728,15 +728,15 @@ int main(int argc, char **argv) { ...@@ -728,15 +728,15 @@ int main(int argc, char **argv) {
ros::param::get("is_simulated_robot", world_state::is_simulated_robot); 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_INFO_STREAM("[SCENECONTROLLER] Using setup for real robot.");
if (!ros::param::has("max_grasp_approach_velocity") || if (!ros::param::has("/scene_controller/max_grasp_approach_velocity") ||
!ros::param::has("max_grasp_approach_acceleration") || !ros::param::has("/scene_controller/max_grasp_approach_acceleration") ||
!ros::param::has("max_grasp_transition_velocity") || !ros::param::has("/scene_controller/max_grasp_transition_velocity") ||
!ros::param::has("max_grasp_transition_acceleration")) { !ros::param::has("/scene_controller/max_grasp_transition_acceleration")) {
ROS_WARN_STREAM( ROS_WARN_STREAM(
"[SCENECONTROLLER] Velocities and accelerations are not completely configured. -> Fallback to default value. "); "[SCENECONTROLLER] Velocities and accelerations are not completely configured. -> Fallback to default value. ");
...@@ -752,11 +752,11 @@ int main(int argc, char **argv) { ...@@ -752,11 +752,11 @@ int main(int argc, char **argv) {
double max_grasp_transition_velocity = 0; double max_grasp_transition_velocity = 0;
double max_grasp_transition_acceleration = 0; double max_grasp_transition_acceleration = 0;
ros::param::get("max_grasp_approach_velocity", max_grasp_approach_velocity); ros::param::get("/scene_controller/max_grasp_approach_velocity", max_grasp_approach_velocity);
ros::param::get("max_grasp_approach_acceleration", max_grasp_approach_acceleration); ros::param::get("/scene_controller/max_grasp_approach_acceleration", max_grasp_approach_acceleration);
ros::param::get("max_grasp_transition_velocity", max_grasp_transition_velocity); ros::param::get("/scene_controller/max_grasp_transition_velocity", max_grasp_transition_velocity);
ros::param::get("max_grasp_transition_acceleration", max_grasp_transition_acceleration); ros::param::get("/scene_controller/max_grasp_transition_acceleration", max_grasp_transition_acceleration);
ROS_INFO_STREAM( ROS_INFO_STREAM(
"[SCENECONTROLLER] Applied max_grasp_approach_velocity " << max_grasp_approach_velocity); "[SCENECONTROLLER] Applied max_grasp_approach_velocity " << max_grasp_approach_velocity);
...@@ -768,13 +768,13 @@ int main(int argc, char **argv) { ...@@ -768,13 +768,13 @@ int main(int argc, char **argv) {
<< max_grasp_transition_acceleration); << max_grasp_transition_acceleration);
} }
if (!ros::param::has("tud_grasp_force")) { if (!ros::param::has("/scene_controller/tud_grasp_force")) {
ROS_WARN_STREAM( ROS_WARN_STREAM(
"[SCENECONTROLLER] Grasp force is not configured. -> Fallback to default value. "); "[SCENECONTROLLER] Grasp force is not configured. -> Fallback to default value. ");
ros::param::set("tud_grasp_force", 9.5); ros::param::set("tud_grasp_force", 9.5);
} else { } else {
double tud_grasp_fource = 0; double tud_grasp_fource = 0;
ros::param::get("tud_grasp_force", tud_grasp_fource); ros::param::get("/scene_controller/tud_grasp_force", tud_grasp_fource);
ROS_INFO_STREAM("[SCENECONTROLLER] Applied tud_grasp_force " << tud_grasp_fource); ROS_INFO_STREAM("[SCENECONTROLLER] Applied tud_grasp_force " << tud_grasp_fource);
} }
} }
......
src/moveit_cgv_controller.cpp
+ 2
− 2
View file @ 76cbefbd
...@@ -31,7 +31,7 @@ int main(int argc, char **argv) { ...@@ -31,7 +31,7 @@ int main(int argc, char **argv) {
ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the cgv_address is ros::NodeHandle n("connector_node_ros_cgv"); // namespace where the cgv_address is
std::string cgv_address = "tcp://*:6576"; std::string cgv_address = "tcp://*:6576";
if (!n.getParam("cgv_address", cgv_address)) { if (!n.getParam("/cgv_address", cgv_address)) {
ROS_WARN_STREAM("[" << NODE_NAME << "] Could not get string value for " << n.getNamespace() ROS_WARN_STREAM("[" << NODE_NAME << "] Could not get string value for " << n.getNamespace()
<< "/cgv_address from param server, using default " << cgv_address); << "/cgv_address from param server, using default " << cgv_address);
} }
...@@ -117,4 +117,4 @@ int main(int argc, char **argv) { ...@@ -117,4 +117,4 @@ int main(int argc, char **argv) {
ros::spin(); ros::spin();
return 0; return 0;
} }
\ No newline at end of file
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