[robokudo] new interface queries for robokudo #178
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Tigul
requested changes
Aug 15, 2024
| is_init = False | ||
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| def init_robokudo_interface(): |
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Please make this a decorator that can be directly attached to the respective methods that call RoboKudo, you can look in the dev branch for reference.
| :param obj_desc: The PyCRAM object designator description that should be converted. | ||
| :return: The RoboKudo QueryGoal for the given object designator description. | ||
| """ | ||
| from robokudo_msgs.msg import QueryGoal |
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Duplicate from the init_robotkudo method
| """ | ||
| init_robokudo_interface() | ||
| from robokudo_msgs.msg import QueryAction, QueryResult |
| client.wait_for_server() | ||
| object_goal = QueryGoal() | ||
| object_goal.obj.type = 'human' | ||
| client.send_goal(object_goal, active_cb=active_callback, done_cb=done_callback, feedback_cb=feedback_callback) |
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The code for the action client is in every method, it would be nice to move this to a seperate function which handles the action client.
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code is wip freezing this PR for time being till its done
hawkina
pushed a commit
to hawkina/pycram
that referenced
this pull request
Nov 6, 2024
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query_empty(): Sends a query to RoboKudo to look for all objects.
query_region(region: str): Sends a query to RoboKudo to look for objects in a specific region.
query_human(): Sends a query to RoboKudo to locate a human and returns a PointStamped object with the detected human's pose.
stop_query_human(): Sends a query to RoboKudo to stop human detection.
seat_query_human(seat: str): Sends a query to RoboKudo to check if a specific seat or region is free to sit.
faces_query_human(): Sends a query to RoboKudo to look for a human, focusing on face recognition.