set default corbaport to 5005, Fixes Issue 141

YutaKojio · Aug 20, 2013 · 2afa2cf · 2afa2cf
1 parent fb4d314
commit 2afa2cf
Show file tree

Hide file tree

Showing 4 changed files with 15 additions and 9 deletions.
diff --git a/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch b/hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch
@@ -18,8 +18,10 @@
   -->
   <!-- BEGIN:openrtm setting -->
   <arg name="nameserver" default="localhost" />
-  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver)" />
-  <arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):2809" -o "naming.formats:%n.rtc" -o "exec_cxt.periodic.type:PeriodicExecutionContext" -o "exec_cxt.periodic.rate:2000" -o "logger.file_name:/tmp/rtc%p.log"' />
+  <arg name="corbaport" default="5005" />
+  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
+  <arg name="omniorb_args" default="-ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService" />
+  <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:2000" -o "logger.file_name:/tmp/rtc%p.log"' />
   <!-- END:openrtm setting -->
   <arg name="OUTPUT" default="screen"/>
   <env name="LANG" value="C" />
@@ -43,13 +45,13 @@
 
   <!-- diagnostics -->
   <node pkg="hrpsys_ros_bridge" name="hrpsys_ros_diagnostics" type="diagnostics.py" />
-  <node pkg="hrpsys_ros_bridge" name="hrpsys_profile" type="hrpsys_profile.py" />
+  <node pkg="hrpsys_ros_bridge" name="hrpsys_profile" type="hrpsys_profile.py" args="$(arg omniorb_args)"/>
   <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
     <rosparam command="load" file="$(find hrpsys_ros_bridge)/scripts/diagnostics.yaml" />
   </node>
 
   <node pkg="hrpsys_ros_bridge" name="sensor_ros_bridge_connect" type="sensor_ros_bridge_connect.py"
-        args="$(arg MODEL_FILE) $(arg SIMULATOR_NAME) HrpsysSeqStateROSBridge0 $(arg nameserver) -ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):2809/NameService" output="$(arg OUTPUT)"/>
+        args="$(arg MODEL_FILE) $(arg SIMULATOR_NAME) HrpsysSeqStateROSBridge0 $(arg nameserver) $(arg omniorb_args)" output="$(arg OUTPUT)"/>
   <!-- BEGIN:openrtm connection -->
   <env name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
   <node name="rtmlaunch_hrpsys_ros_bridge" pkg="openrtm_tools" type="rtmlaunch.py" args="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch USE_COMMON=$(arg USE_COMMON) USE_WALKING=$(arg USE_WALKING) USE_COLLISIONCHECK=$(arg USE_COLLISIONCHECK) USE_IMPEDANCECONTROLLER=$(arg USE_IMPEDANCECONTROLLER) USE_SOFTERRORLIMIT=$(arg USE_SOFTERRORLIMIT) USE_IMAGESENSOR=$(arg USE_IMAGESENSOR) USE_ROBOTHARDWARE=$(arg USE_ROBOTHARDWARE)"/>

diff --git a/hrpsys_ros_bridge/scripts/rtmlaunch b/hrpsys_ros_bridge/scripts/rtmlaunch
@@ -50,7 +50,7 @@ if start_naming :
     except:
         pass
 
-    p = subprocess.Popen([cosnames,"-start", "-logdir", logdir])
+    p = subprocess.Popen([cosnames,"-start", "5005", "-always", "-logdir", logdir])
 
 
 import roslaunch

diff --git a/hrpsys_tools/launch/hrpsys.launch b/hrpsys_tools/launch/hrpsys.launch
@@ -13,9 +13,11 @@
 
   <!-- BEGIN:openrtm setting -->
   <arg name="nameserver" default="localhost" />
+  <arg name="corbaport" default="5005" />
   <arg name="KILL_SERVERS" default="false" />
-  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver)" />
-  <arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):2809" -o "naming.formats:%n.rtc" -o "logger.file_name:/tmp/rtc%p.log" ' />
+  <env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
+  <arg name="omniorb_args" default="-ORBInitRef NameService=corbaloc:iiop:$(arg nameserver):$(arg corbaport)/NameService" />
+  <arg name="openrtm_args" default='-o "corba.nameservers:$(arg nameserver):$(arg corbaport)" -o "naming.formats:%n.rtc" -o "logger.file_name:/tmp/rtc%p.log" ' />
   <!-- END:openrtm setting -->
 
   <!-- BEGIN:setting for hrpsys-simulator or rtcd -->
@@ -83,6 +85,7 @@
   </group>
 
   <node name="modelloader" pkg="openhrp3" type="openhrp-model-loader"
+        args="$(arg omniorb_args)"
         respawn="$(arg RESPAWN)" output="screen"
         if="$(arg openrtm_openhrp_server_start)"/> <!-- loading dae files crushes model loader -->
 
@@ -99,7 +102,7 @@
 
   <group if="$(arg LAUNCH_HRPSYSPY)">
     <node name="hrpsys_py" pkg="$(arg HRPSYS_PY_PKG)" type="$(arg HRPSYS_PY_NAME)" output="screen"
-          args='$(arg SIMULATOR_NAME) $(arg MODEL_FILE)' />
+          args='$(arg SIMULATOR_NAME) $(arg MODEL_FILE) $(arg omniorb_args)' />
   </group>
 
   <!-- <node name="abstransform2posrpy" pkg="hrpsys" type="AbsTransformToPosRpy" output="$(arg OUTPUT)" -->

diff --git a/openrtm_tools/scripts/rtshell-setup.sh b/openrtm_tools/scripts/rtshell-setup.sh
@@ -10,5 +10,6 @@ else
     echo -e "Warning : Failed to load shell_support, try rosmake openrtm"
 fi
 
-export RTCTREE_NAMESERVERS=localhost
+export RTCTREE_NAMESERVERS=localhost:5005
+complete -F "_roscomplete_launch" -o filenames "rtmlaunch"
 #echo ";; set RTCTREE_NAMESERVERS=$RTCTREE_NAMESERVERS"
-Original file line number
+Diff line change
@@ Expand Up / @@ -50,7 +50,7 @@ if start_naming : @@
         except:
             pass
-        p = subprocess.Popen([cosnames,"-start", "-logdir", logdir])
+        p = subprocess.Popen([cosnames,"-start", "5005", "-always", "-logdir", logdir])
     import roslaunch
@@ Expand Down @@