This package provides an executable that runs all modules for the perception used during Suturo 2018/19. It includes action servers running specific pipelines in RoboSherlock.
The package depends on the follwoing packages
- RoboSherlock
- The Suturo RoboSherlock Package
- Suturo Perception Msgs
- actionlib
- geometry msgs
Make sure that you have RoboSherlock installed. If that is the case, a simple catkin build is enough
To start the module, type
rosrun hsr_perception perception_server
This starts all action servers handling requests for the perception module. As a server is started, an individual RoboSherlock instance is created. The pipeline associated with the instance will be processed as soon as an action client sends a request to the specific server.
Currently there are two actions and their respective servers defined:
ExtractObjectInformationAnalyzeShelfStatusFor futher detail please look at the actions defined in the suturo_msgs.
The package also provides a demo client that simply prints out the content of the detection message. They can be used for testing purposes or as a demonstration on how the action servers can be used.