From 79405545dd6306cc592afaa8909c914e10b461b7 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 31 Aug 2021 18:48:25 +0200
Subject: [PATCH] fix minor issues and add more launch files
---
config/config.yaml | 3 +++
...eaning_dummy_main_dummy_client_dummy_cgv.launch} | 4 ++--
.../cleaning_dummy_main_simulated_client.launch | 13 +++++++++++++
.../cleaning_simulated_main_dummy_client.launch | 13 +++++++++++++
4 files changed, 31 insertions(+), 2 deletions(-)
rename launch/cleaning/{cleaning_double__dummy_controller_and_dummy_cgv.launch => cleaning_dummy_main_dummy_client_dummy_cgv.launch} (67%)
create mode 100644 launch/cleaning/cleaning_dummy_main_simulated_client.launch
create mode 100644 launch/cleaning/cleaning_simulated_main_dummy_client.launch
diff --git a/config/config.yaml b/config/config.yaml
index 22d7c81..0056a34 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -1,3 +1,6 @@
+connector_node_ros_cgv:
+ topics:
+ selection: "selection"
max_grasp_approach_velocity: 0.2
max_grasp_approach_acceleration: 0.2
max_grasp_transition_velocity: 0.2
diff --git a/launch/cleaning/cleaning_double__dummy_controller_and_dummy_cgv.launch b/launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
similarity index 67%
rename from launch/cleaning/cleaning_double__dummy_controller_and_dummy_cgv.launch
rename to launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
index 757a39d..8bb339e 100644
--- a/launch/cleaning/cleaning_double__dummy_controller_and_dummy_cgv.launch
+++ b/launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
@@ -1,10 +1,10 @@
<launch>
<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
- <node pkg="ccf" type="dummy_cgv_controller" name="my_first_dummy_cgv_controller" 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="my_second_dummy_cgv_controller" output="screen">
+ <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>
diff --git a/launch/cleaning/cleaning_dummy_main_simulated_client.launch b/launch/cleaning/cleaning_dummy_main_simulated_client.launch
new file mode 100644
index 0000000..8ccce61
--- /dev/null
+++ b/launch/cleaning/cleaning_dummy_main_simulated_client.launch
@@ -0,0 +1,13 @@
+<launch>
+ <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
+
+ <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
+ <node pkg="ccf" type="moveit_cgv_controller" name="main_controller" output="screen">
+ <param name="connection_address" type="string" value="tcp://*:6576" />
+ <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
+ </node>
+ <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
+ <param name="connection_address" type="string" value="tcp://*:6586" />
+ <param name="client_controllers" type="yaml" value="[]" />
+ </node>
+</launch>
diff --git a/launch/cleaning/cleaning_simulated_main_dummy_client.launch b/launch/cleaning/cleaning_simulated_main_dummy_client.launch
new file mode 100644
index 0000000..ef9f1eb
--- /dev/null
+++ b/launch/cleaning/cleaning_simulated_main_dummy_client.launch
@@ -0,0 +1,13 @@
+<launch>
+ <include file="$(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>
--
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