Fix ports

husarion · Oct 21, 2024 · 433edce · 433edce
1 parent d6e3c39
commit 433edce
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/panther_manager/CONFIGURATION.md b/panther_manager/CONFIGURATION.md
@@ -206,7 +206,7 @@ To use your customized project, you can modify the `bt_project_file` ROS paramet
 
 Groot2 also provides a real-time visualization tool that allows you to see and debug actively running trees. To use this tool with trees launched with the `panther_manager` package, you need to specify the port associated with the tree you want to visualize. The ports for each tree are listed below:
 
-- Lights tree: `10.15.20.2:5555`
-- RobotState tree: `10.15.20.2:5556`
-- Safety tree: `10.15.20.2:5557`
-- Shutdown tree: `10.15.20.2:5558`
+- Lights tree: `10.15.20.2:5550`
+- RobotState tree: `10.15.20.2:5555`
+- Safety tree: `10.15.20.2:5560`
+- Shutdown tree: `10.15.20.2:5565`
diff --git a/panther_manager/src/lights_manager_node.cpp b/panther_manager/src/lights_manager_node.cpp
@@ -49,7 +49,7 @@ LightsManagerNode::LightsManagerNode(
     battery_percent_window_len, 1.0);
 
   const auto initial_blackboard = CreateLightsInitialBlackboard();
-  lights_tree_manager_ = std::make_unique<BehaviorTreeManager>("Lights", initial_blackboard, 5555);
+  lights_tree_manager_ = std::make_unique<BehaviorTreeManager>("Lights", initial_blackboard, 5550);
 
   RCLCPP_INFO(this->get_logger(), "Node constructed successfully.");
 }

diff --git a/panther_manager/src/robot_states_manager_node.cpp b/panther_manager/src/robot_states_manager_node.cpp
@@ -45,7 +45,7 @@ RobotStatesManagerNode::RobotStatesManagerNode(
 
   const auto initial_blackboard = CreateBlackboard();
   docking_tree_manager_ = std::make_unique<BehaviorTreeManager>(
-    "RobotStates", initial_blackboard, 5556);
+    "RobotStates", initial_blackboard, 5555);
 
   RCLCPP_INFO(this->get_logger(), "Node constructed successfully.");
 }

diff --git a/panther_manager/src/safety_manager_node.cpp b/panther_manager/src/safety_manager_node.cpp
@@ -58,14 +58,14 @@ SafetyManagerNode::SafetyManagerNode(
 
   const auto safety_initial_blackboard = CreateSafetyInitialBlackboard();
   safety_tree_manager_ = std::make_unique<BehaviorTreeManager>(
-    "Safety", safety_initial_blackboard, 5557);
+    "Safety", safety_initial_blackboard, 5560);
 
   const auto shutdown_hosts_path = this->get_parameter("shutdown_hosts_path").as_string();
   const std::map<std::string, std::any> shutdown_initial_blackboard = {
     {"SHUTDOWN_HOSTS_FILE", shutdown_hosts_path.c_str()},
   };
   shutdown_tree_manager_ = std::make_unique<BehaviorTreeManager>(
-    "Shutdown", shutdown_initial_blackboard, 5558);
+    "Shutdown", shutdown_initial_blackboard, 5565);
 
   RCLCPP_INFO(this->get_logger(), "Node constructed successfully.");
 }