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OLD CCF - The CeTI Cobotic Framework
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This is an archived project. Repository and other project resources are read-only.
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CeTI
ROS
CeTI Cobotic Framework
OLD CCF - The CeTI Cobotic Framework
Commits
ae40e919
Commit
ae40e919
authored
3 years ago
by
Johannes Mey
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use getParameter
parent
17c0d795
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Changes
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2 changed files
src/dummy_cgv_controller.cpp
+3
-7
3 additions, 7 deletions
src/dummy_cgv_controller.cpp
src/moveit_cgv_controller.cpp
+2
-6
2 additions, 6 deletions
src/moveit_cgv_controller.cpp
with
5 additions
and
13 deletions
src/dummy_cgv_controller.cpp
+
3
−
7
View file @
ae40e919
...
@@ -29,13 +29,9 @@ int main(int argc, char **argv) {
...
@@ -29,13 +29,9 @@ int main(int argc, char **argv) {
ros
::
init
(
argc
,
argv
,
NODE_NAME
);
ros
::
init
(
argc
,
argv
,
NODE_NAME
);
ros
::
NodeHandle
n
(
"connector_node_ros_cgv"
);
// namespace where the c
gv
_address is
ros
::
NodeHandle
n
(
"connector_node_ros_cgv"
);
// namespace where the c
onnection
_address is
std
::
string
cgv_address
=
"tcp://*:6576"
;
std
::
string
cgv_address
=
getParameter
<
std
::
string
>
(
n
,
"connection_address"
,
"tcp://*:6576"
);
if
(
!
n
.
getParam
(
"cgv_address"
,
cgv_address
))
{
ROS_WARN_STREAM
(
"["
<<
NODE_NAME
<<
"] Could not get string value for "
<<
n
.
getNamespace
()
<<
"/cgv_address from param server, using default "
<<
cgv_address
);
}
DummyRobotArmController
connector
{
n
,
NODE_NAME
};
DummyRobotArmController
connector
{
n
,
NODE_NAME
};
...
@@ -118,4 +114,4 @@ int main(int argc, char **argv) {
...
@@ -118,4 +114,4 @@ int main(int argc, char **argv) {
ros
::
spin
();
ros
::
spin
();
return
0
;
return
0
;
}
}
\ No newline at end of file
This diff is collapsed.
Click to expand it.
src/moveit_cgv_controller.cpp
+
2
−
6
View file @
ae40e919
...
@@ -28,13 +28,9 @@ int main(int argc, char **argv) {
...
@@ -28,13 +28,9 @@ int main(int argc, char **argv) {
ros
::
init
(
argc
,
argv
,
NODE_NAME
);
ros
::
init
(
argc
,
argv
,
NODE_NAME
);
ros
::
NodeHandle
n
(
"connector_node_ros_cgv"
);
// namespace where the c
gv
_address is
ros
::
NodeHandle
n
(
"connector_node_ros_cgv"
);
// namespace where the c
onnection
_address is
std
::
string
cgv_address
=
"tcp://*:6576"
;
std
::
string
cgv_address
=
getParameter
<
std
::
string
>
(
n
,
"connection_address"
,
"tcp://*:6576"
);
if
(
!
n
.
getParam
(
"cgv_address"
,
cgv_address
))
{
ROS_WARN_STREAM
(
"["
<<
NODE_NAME
<<
"] Could not get string value for "
<<
n
.
getNamespace
()
<<
"/cgv_address from param server, using default "
<<
cgv_address
);
}
MoveItRobotArmController
connector
{
n
,
NODE_NAME
};
MoveItRobotArmController
connector
{
n
,
NODE_NAME
};
...
...
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