From 7afc034286f434a64c1c5a92a046a6d24b156f92 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Thu, 24 Jun 2021 17:30:47 +0200
Subject: [PATCH] make topic configurable in place b
---
launch/cell-sync/dummy_rag_connector_b_robot_1.launch | 7 +++++++
launch/cell-sync/dummy_rag_connector_b_robot_2.launch | 7 +++++++
src/dummy_rag_controller_b.cpp | 11 +++++++----
3 files changed, 21 insertions(+), 4 deletions(-)
create mode 100644 launch/cell-sync/dummy_rag_connector_b_robot_1.launch
create mode 100644 launch/cell-sync/dummy_rag_connector_b_robot_2.launch
diff --git a/launch/cell-sync/dummy_rag_connector_b_robot_1.launch b/launch/cell-sync/dummy_rag_connector_b_robot_1.launch
new file mode 100644
index 0000000..29671f5
--- /dev/null
+++ b/launch/cell-sync/dummy_rag_connector_b_robot_1.launch
@@ -0,0 +1,7 @@
+<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>
diff --git a/launch/cell-sync/dummy_rag_connector_b_robot_2.launch b/launch/cell-sync/dummy_rag_connector_b_robot_2.launch
new file mode 100644
index 0000000..59bd68c
--- /dev/null
+++ b/launch/cell-sync/dummy_rag_connector_b_robot_2.launch
@@ -0,0 +1,7 @@
+<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>
diff --git a/src/dummy_rag_controller_b.cpp b/src/dummy_rag_controller_b.cpp
index 8fe25f5..6a2a6ef 100644
--- a/src/dummy_rag_controller_b.cpp
+++ b/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.");
@@ -136,4 +139,4 @@ int main(int argc, char **argv) {
ros::spin();
return 0;
-}
\ No newline at end of file
+}
--
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