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Changes to accomodate 3 items #1

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2 changes: 1 addition & 1 deletion launch/sofia_perception.launch
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<launch>
<node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster" args="0 0 0 0 0 0 0 /end_effector_link /camera 100" />
<!-- <node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster" args="0 0 0 0 0 0 0 /end_effector_link /camera 100" /> -->
<node pkg="sofia_perception" type="perception_server.py" name="perception_server" output="screen" />
</launch>
Binary file added resources/perception.bag
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2 changes: 1 addition & 1 deletion scripts/optimize_class.py
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Expand Up @@ -150,7 +150,7 @@ def plot_inputs(self, ax1, col='k'):
optim = Fminsearch()
optim.load_set(poses_path, tfs_path)

# initial guess for the optimization algorithm written as position + quaternion (x, y, z, qx, qy, qz, qw)
# REPLACE initial guess (t1) for the optimization algorithm written as position + quaternion (x, y, z, qx, qy, qz, qw) with your calculated guess
t1 = np.asarray([0, 0, 0, 0, 0, 0, 0])
topt, f = optim.do_optimise_T(t1)

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12 changes: 8 additions & 4 deletions scripts/perception_server.py
100644 → 100755
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Expand Up @@ -10,25 +10,29 @@ class SofiaPerception(object):
def __init__(self):
self.detect_object_srv = rospy.Service('detect_object', DetectObject, self.detect_object)
print("DetectObject srv is now available")
self.z = 0.05
rospy.spin()

def detect_object(self, req):
self.points = ros_numpy.point_cloud2.pointcloud2_to_array(req.input_pc)
z_values = self.points['z']
mask = ~np.isnan(z_values) * (z_values > self.z) * (z_values < self.z + 0.15) # removing spurious points
self.points = self.points[mask]

#########################
## YOUR CODE GOES HERE ##
#########################

z_values = self.points['z']
mask = ~np.isnan(z_values) * (z_values > self.z) * (z_values < self.z + 0.15) # removing spurious points
self.points = self.points[mask]

object_centroid = Point()
# object_centroid.x = ...
# object_centroid.y = ...
# object_centroid.z = ...

res = DetectObjectResponse()
res.object_centroid = object_centroid
res.object_centroid_yellow = object_centroid
res.object_centroid_green = object_centroid
res.object_centroid_blue = object_centroid

return res

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4 changes: 3 additions & 1 deletion srv/DetectObject.srv
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
sensor_msgs/PointCloud2 input_pc
---
geometry_msgs/Point object_centroid
geometry_msgs/Point object_centroid_yellow
geometry_msgs/Point object_centroid_green
geometry_msgs/Point object_centroid_blue