make topic configurable in place b

launch/cell-sync/dummy_rag_connector_b_robot_1.launch

+<launch>
+
+    <node pkg="ccf" type="dummy_rag_connector_b" name="dummy_rag_connector_b_1" output="screen">
+        <rosparam param="/ccf/place_b_prefix">place-b-1</rosparam>
+    </node>
+
+</launch>

launch/cell-sync/dummy_rag_connector_b_robot_2.launch

+<launch>
+
+    <node pkg="ccf" type="dummy_rag_connector_b" name="dummy_rag_connector_b_2" output="screen">
+        <rosparam param="/ccf/place_b_prefix">place-b-2</rosparam>
+    </node>
+
+</launch>

src/dummy_rag_controller_b.cpp

@@ -38,7 +38,10 @@ int main(int argc, char **argv) {
 
     std::string cgv_address = getParameter(n, "cgv_address", "tcp://*:6576");
 
+    std::string cell_prefix = getParameter(n, "place_b_prefix", CELL_NAME);
+
     DummyRobotArmController connector{n, CELL_NAME};
+    connector.setSendSceneTopic(cell_prefix + "/scene");
 
     // only for debugging (uncomment when running without the RAG part)
     // connector.loadScene("/home/jm/work/git/ceti/models2021/src/ccf/config/config_pick_place_scene.json");
@@ -46,8 +49,8 @@ int main(int argc, char **argv) {
     // add an MQTT connection
     std::string mqtt_address = getParameter(n, "mqtt/mqtt_address", "tcp://localhost:1883");
     std::unique_ptr<MqttConnection> mqtt_connection = std::make_unique<MqttConnection>(mqtt_address, NODE_NAME);
-    mqtt_connection->addTopic(CELL_NAME + "/scene/init");
-    mqtt_connection->addTopic(CELL_NAME + "/command");
+    mqtt_connection->addTopic(connector.getInitSceneTopic());
+    mqtt_connection->addTopic(connector.getCommandTopic());
     connector.addConnection(std::move(mqtt_connection));
 
     ros::Subscriber sub = n.subscribe<std_msgs::Empty>("send_scene", 1000,
@@ -104,7 +107,7 @@ int main(int argc, char **argv) {
     };
     connector.reactToPickAndPlaceMessage(pickPlaceLambda);
 
-    std::string reachabilityTopicPrefix = CELL_NAME + "/reachability/";
+    std::string reachabilityTopicPrefix = cell_prefix + "/reachability/";
 
     auto sceneUpdateLambda = [&reachabilityTopicPrefix, &connector]() {
         ROS_INFO_STREAM("[" << NODE_NAME << "] Scene was updated, sending new reachability information.");