From 94e5d84503290edd2742dfa7bce75903f169e388 Mon Sep 17 00:00:00 2001
From: swittl <simon.wittl@th-deg.de>
Date: Mon, 15 Jul 2024 11:06:02 +0200
Subject: [PATCH] echo update
---
launch/__pycache__/echo_launch.cpython-38.pyc | Bin 0 -> 1189 bytes
launch/echo_launch.py | 62 ++++++++++++++++++
src/rq_ddetection | 2 +-
src/rq_hardware | 2 +-
src/rq_reconstruction | 2 +-
src/rq_trajectory | 2 +-
6 files changed, 66 insertions(+), 4 deletions(-)
create mode 100644 launch/__pycache__/echo_launch.cpython-38.pyc
create mode 100644 launch/echo_launch.py
diff --git a/launch/__pycache__/echo_launch.cpython-38.pyc b/launch/__pycache__/echo_launch.cpython-38.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c2a1db3b5772c1008498b1774568167649e36d10
GIT binary patch
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diff --git a/launch/echo_launch.py b/launch/echo_launch.py
new file mode 100644
index 0000000..b8e9bf4
--- /dev/null
+++ b/launch/echo_launch.py
@@ -0,0 +1,62 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+
+def generate_launch_description():
+ return LaunchDescription([
+ DeclareLaunchArgument(
+ 'frame',
+ default_value='object',
+ description='Name of the static frame'
+ ),
+ DeclareLaunchArgument(
+ 'position',
+ default_value="0. 0. 1.",
+ description='Position as x y z'
+ ),
+ DeclareLaunchArgument(
+ 'quaternion',
+ default_value='0. 0. 0. 1.',
+ description='Orientation as quaternion x y z w'),
+
+
+ Node(
+ package='rq_hardware',
+ namespace='rq',
+ executable='echo_service',
+ name='hardware_interface'
+ ),
+ Node(
+ package='rq_trajectory',
+ namespace='rq',
+ executable='echo_interference_service',
+ name='trajectory'
+ ),
+ Node(
+ package='rq_reconstruction',
+ namespace='rq',
+ executable='echo_service',
+ name='reconstruction'
+ ),
+ Node(
+ package='rq_ddetection',
+ namespace='rq',
+ executable='echo_service',
+ name='defect_detection'
+ ),
+ Node(
+ package='rq_controller',
+ namespace='rq',
+ executable='tf_static_broadcaster',
+ name='object_broadcaster',
+ parameters=[
+ {'frame': LaunchConfiguration('frame')},
+ {'position': LaunchConfiguration('position')},
+ {'quaternion': LaunchConfiguration('quaternion')},
+ ]
+ ),
+
+ ]
+ )
\ No newline at end of file
diff --git a/src/rq_ddetection b/src/rq_ddetection
index 2d92247..40a93a9 160000
--- a/src/rq_ddetection
+++ b/src/rq_ddetection
@@ -1 +1 @@
-Subproject commit 2d92247fd6cccd2fd450be5996be478b760b969e
+Subproject commit 40a93a9d91b06edcec853ca674c83919649fc63c
diff --git a/src/rq_hardware b/src/rq_hardware
index 1bd4aed..9e1a95b 160000
--- a/src/rq_hardware
+++ b/src/rq_hardware
@@ -1 +1 @@
-Subproject commit 1bd4aed8711671fda9fbdc384bfb2f7f3f4480c3
+Subproject commit 9e1a95b55ff2898410e3c39a844590041640b01a
diff --git a/src/rq_reconstruction b/src/rq_reconstruction
index a356ccb..03045d6 160000
--- a/src/rq_reconstruction
+++ b/src/rq_reconstruction
@@ -1 +1 @@
-Subproject commit a356ccbc205b69af3ef268e2a382bc81d065ce86
+Subproject commit 03045d66fa05a485bc22f31825d2b05f6de6f399
diff --git a/src/rq_trajectory b/src/rq_trajectory
index 58b224a..66bfea9 160000
--- a/src/rq_trajectory
+++ b/src/rq_trajectory
@@ -1 +1 @@
-Subproject commit 58b224a7530c5c3bdea1ebffad29e30be59cee5f
+Subproject commit 66bfea99c553f6e945d5eac4bb76fe0222bc23b4
--
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