def bin_info_publlish(self, event):
json = rospy.get_param('~json', None)
# update bin_info_arr only when rosparam: json is changd
if self.json_file != json:
if not os.path.isfile(json) or json[-4:] != 'json':
rospy.logwarn('wrong json file name')
return
self.json_file = json
# get bbox from rosparam
self.from_shelf_param('upper')
self.from_shelf_param('lower')
# get contents of bin from json
self.bin_contents_dict = jsk_apc2016_common.get_bin_contents(
self.json_file)
self.targets_dict = jsk_apc2016_common.get_work_order(
self.json_file)
# create bin_msg
self.create_bin_info_arr()
self.bin_info_arr.header.stamp = rospy.Time.now()
self.pub_bin_info_arr.publish(self.bin_info_arr)
def __init__(self):
rp = rospkg.RosPack()
input_path = rospy.get_param('~json', None)
if input_path is None:
jsk_logwarn('must set json file path to param ~json')
return
with open(input_path, 'r') as f:
self.output_data = json.load(f)
self.tote_contents = self.output_data['tote_contents']
self.bin_contents = self.output_data['bin_contents']
self.work_order = jsk_apc2016_common.get_work_order(input_path)
self.output_path = osp.join(
rp.get_path('jsk_2016_01_baxter_apc'),
'output',
'output_' + osp.basename(input_path))
self.arm_state = {}
self.arm_target_bin = {}
self.finished_bin_list = []
with open(self.output_path, 'w') as f:
json.dump(self.output_data, f, sort_keys=True, indent=4)
def __init__(self):
self.bbox_dict = {}
self.bin_contents_dict = {}
self.targets_dict = {}
self.cam_direction_dict = {}
self.json_file = None
pub_bin_info_arr = rospy.Publisher('~bin_array', BinInfoArray, queue_size=1)
pub_bbox_arr = rospy.Publisher('~bbox_array', BoundingBoxArray, queue_size=1)
rate = rospy.Rate(rospy.get_param('rate', 1))
while not rospy.is_shutdown():
json = rospy.get_param('~json', None)
# update bin_info_arr only when rosparam: json is changd
if self.json_file != json:
if not os.path.isfile(json) or json[-4:] != 'json':
rospy.logwarn('wrong json file name')
rate.sleep()
continue
self.json_file = json
# get bbox from rosparam
self.from_shelf_param('upper')
self.from_shelf_param('lower')
# create bounding box array
self.bbox_array = self.get_bounding_box_array(self.bbox_dict)
# get contents of bin from json
self.bin_contents_dict = jsk_apc2016_common.get_bin_contents(self.json_file)
self.targets_dict = jsk_apc2016_common.get_work_order(self.json_file)
# create bin_msg
self.create_bin_info_arr()
self.bbox_array.header.stamp = rospy.Time.now()
self.bin_info_arr.header.stamp = rospy.Time.now()
pub_bbox_arr.publish(self.bbox_array)
pub_bin_info_arr.publish(self.bin_info_arr)
rate.sleep()