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update launch files for multi name server #302

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update launch files for multi name server #302

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2 changes: 2 additions & 0 deletions hrpsys_choreonoid/launch/ros_bridge_choreonoid.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
<arg name="RUN_RVIZ" default="false" />

<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />

<arg name="USE_ROBOTHARDWARE" default="true" />
<arg name="USE_WALKING" default="true" />
Expand All @@ -29,6 +30,7 @@
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
<arg name="CONF_FILE" value="$(arg CONF_FILE)" />
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<arg name="USE_ROBOTHARDWARE" default="$(arg USE_ROBOTHARDWARE)" />
<!-- unstable RTC -->
<arg name="USE_WALKING" value="$(arg USE_WALKING)" />
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24 changes: 12 additions & 12 deletions hrpsys_choreonoid/launch/run_choreonoid.sh
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Expand Up @@ -3,18 +3,18 @@
### choose choreonoid binary
choreonoid_exe='choreonoid'

if [ "$(pgrep -x ${choreonoid_exe} | wc -l)" != 0 ]; then
pkill -9 ${choreonoid_exe}
echo "****************************************************" 1>&2
echo "* *" 1>&2
echo "* *" 1>&2
echo "* Old choreonoid process was found. *" 1>&2
echo "* Process has been killed, please start again. *" 1>&2
echo "* *" 1>&2
echo "* *" 1>&2
echo "****************************************************" 1>&2
exit 1
fi
# if [ "$(pgrep -x ${choreonoid_exe} | wc -l)" != 0 ]; then
# pkill -9 ${choreonoid_exe}
# echo "****************************************************" 1>&2
# echo "* *" 1>&2
# echo "* *" 1>&2
# echo "* Old choreonoid process was found. *" 1>&2
# echo "* Process has been killed, please start again. *" 1>&2
# echo "* *" 1>&2
# echo "* *" 1>&2
# echo "****************************************************" 1>&2
# exit 1
# fi

# Kill choreonoid certainly
trap "pkill ${choreonoid_exe} -g 0" SIGINT SIGKILL SIGTERM
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2 changes: 2 additions & 0 deletions hrpsys_choreonoid/launch/startup_choreonoid.launch
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Expand Up @@ -12,6 +12,7 @@
<arg name="REALTIME" default="true" />
<arg name="OUTPUT" default="log"/>
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />
<arg name="CONNECT_CONSTRAINT_FORCE_LOGGER_PORTS" default="false"/>

<arg name="RobotHardware_conf" default="$(arg CONF_FILE)"/>
Expand All @@ -36,6 +37,7 @@
<arg name="KILL_SERVERS" value="$(arg KILL_SERVERS)" />
<arg name="REALTIME" value="$(arg REALTIME)" />
<arg name="corbaport" value="$(arg corbaport)" />
<arg name="managerport" value="$(arg managerport)" />
<arg name="openrtm_openhrp_server_start" value="true"/>
<arg name="RESPAWN_MODELLOADER" value="false" />
<arg name="GUI" default="$(arg GUI)" />
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8 changes: 8 additions & 0 deletions hrpsys_choreonoid_tutorials/launch/chidori_choreonoid.launch
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Expand Up @@ -8,6 +8,8 @@
<arg name="RUN_RVIZ" default="true" />
<arg name="GUI" default="true" />
<arg name="hrpsys_precreate_rtc" default=""/>
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />
<!-- robot dependant settings -->
<arg if="$(arg USE_ROBOTHARDWARE)"
name="taskname" value="RH_$(arg TASK)" />
Expand Down Expand Up @@ -35,6 +37,8 @@

<!-- hrpsys -->
<include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)" />
Expand All @@ -53,6 +57,8 @@
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="USE_ROBOTHARDWARE" value="$(arg USE_ROBOTHARDWARE)" />
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
Expand All @@ -69,6 +75,8 @@

<!-- vision setting -->
<include file="$(find hrpsys_choreonoid_tutorials)/launch/chidori_vision_connect.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
</include>

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3 changes: 2 additions & 1 deletion hrpsys_choreonoid_tutorials/launch/chidori_vision_connect.launch
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Expand Up @@ -3,9 +3,10 @@
<arg name="OUTPUT" default="log"/>
<arg name="nameserver" default="localhost" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />
<arg name="periodic_rate" default="200" />

<arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />
<arg name="openrtm_args" default='-o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />

<env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
<env name="LANG" value="C" />
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14 changes: 13 additions & 1 deletion hrpsys_choreonoid_tutorials/launch/create_environment_sample.launch
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Expand Up @@ -11,6 +11,8 @@
<arg name="GUI" default="true" />
<arg name="hrpsys_precreate_rtc" default=""/>
<arg name="LAUNCH_FOOTCOORDS" default="true" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />

<!-- robot dependant settings -->
<env name="CHOREONOID_SIMULATION_SETTING" value="$(arg ENVIRONMENT_YAML)" />
Expand Down Expand Up @@ -38,6 +40,8 @@

<!-- hrpsys -->
<include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="PROJECT_FILE" value="dummy_argument" />
Expand All @@ -57,6 +61,8 @@
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
Expand All @@ -76,10 +82,16 @@
<!-- vision setting -->
<ggroup if="$(arg USE_VISION)">
<include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_red_vision_connect.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
</include>
</ggroup>
<include file="$(find hrpsys_choreonoid_tutorials)/launch/fixed_camera_connect.launch" />
<include file="$(find hrpsys_choreonoid_tutorials)/launch/fixed_camera_connect.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
</include>

<!--
<arg name="launch_multisense_local" default="false" />
<arg name="launch_multisense_remote" default="false" />
Expand Down
3 changes: 2 additions & 1 deletion hrpsys_choreonoid_tutorials/launch/fixed_camera_connect.launch
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Expand Up @@ -3,9 +3,10 @@
<arg name="OUTPUT" default="log"/>
<arg name="nameserver" default="localhost" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />
<arg name="periodic_rate" default="200" />

<arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:FIXED_%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />
<arg name="openrtm_args" default='-o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:FIXED_%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />

<env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
<env name="LANG" value="C" />
Expand Down
8 changes: 8 additions & 0 deletions hrpsys_choreonoid_tutorials/launch/jaxon_blue_choreonoid.launch
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Expand Up @@ -14,6 +14,8 @@
<arg name="GUI" default="true" />
<arg name="hrpsys_precreate_rtc" default=""/>
<arg name="LAUNCH_FOOTCOORDS" default="true" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />

<!-- robot dependant settings -->
<arg if="$(arg USE_ROBOTHARDWARE)"
Expand Down Expand Up @@ -47,6 +49,8 @@

<!-- hrpsys -->
<include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)" />
Expand All @@ -65,6 +69,8 @@
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="USE_ROBOTHARDWARE" value="$(arg USE_ROBOTHARDWARE)" />
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
Expand All @@ -85,6 +91,8 @@
<!-- vision setting -->
<group if="$(arg USE_VISION)">
<include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_blue_vision_connect.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
</include>
</group>
Expand Down
8 changes: 8 additions & 0 deletions hrpsys_choreonoid_tutorials/launch/jaxon_red_choreonoid.launch
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Expand Up @@ -13,6 +13,8 @@
<arg name="GUI" default="true" />
<arg name="hrpsys_precreate_rtc" default=""/>
<arg name="LAUNCH_FOOTCOORDS" default="true" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />

<!-- robot dependant settings -->
<arg if="$(arg USE_ROBOTHARDWARE)"
Expand Down Expand Up @@ -51,6 +53,8 @@

<!-- hrpsys -->
<include file="$(find hrpsys_choreonoid)/launch/startup_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
<arg name="PROJECT_FILE" value="$(arg PROJECT_FILE)" />
Expand All @@ -69,6 +73,8 @@
<!-- ros_bridge -->
<rosparam command="load" file="$(arg CONTROLLER_CONFIG)" />
<include file="$(find hrpsys_choreonoid)/launch/ros_bridge_choreonoid.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<!-- robot dependant settings -->
<arg name="USE_ROBOTHARDWARE" value="$(arg USE_ROBOTHARDWARE)" />
<arg name="SIMULATOR_NAME" value="$(arg BRIDGE_SIMULATOR_NAME)" />
Expand All @@ -89,6 +95,8 @@
<!-- vision setting -->
<group if="$(arg USE_VISION)">
<include file="$(find hrpsys_choreonoid_tutorials)/launch/jaxon_red_vision_connect.launch" >
<arg name="corbaport" default="$(arg corbaport)" />
<arg name="managerport" default="$(arg managerport)" />
<arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
</include>
</group>
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3 changes: 2 additions & 1 deletion hrpsys_choreonoid_tutorials/launch/jaxon_red_vision_connect.launch
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Expand Up @@ -3,9 +3,10 @@
<arg name="OUTPUT" default="log"/>
<arg name="nameserver" default="localhost" />
<arg name="corbaport" default="15005" />
<arg name="managerport" default="2810" />
<arg name="periodic_rate" default="200" />

<arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />
<arg name="openrtm_args" default='-o "corba.master_manager:$(arg nameserver):$(arg managerport)" -o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:$(arg periodic_rate)" -o "logger.file_name:/tmp/rtc%p.log"' />

<env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
<env name="LANG" value="C" />
Expand Down