if __name__ == '__main__': parser = argparse.ArgumentParser(description='Client that queries the ORK server and prints the output. ' 'Start your server and launch that file for testing.') parser.add_argument('--auto-trigger', help='Specifies the number of seconds in between calls to triggering object detection', default=None, type=float) parser.add_argument('--min-confidence', help='Specifies the minimum confidence for a recognized object to be published to the planning scene', default=0.5, type=float) parser.add_argument('--topic', help='Specifies whether recognized objects should be listened for on a topic', default=False, type=bool) cmd_args = vars(parser.parse_args(args=rospy.myargv(argv=sys.argv)[1:])) rospy.init_node('recognition_client') broadcaster = ObjectBroadcaster() broadcaster.set_minimum_confidence(cmd_args['min_confidence']) detector = ObjectDetector(broadcaster.broadcast) if cmd_args['topic'] is True: detector.start_continuous_monitor_client() if cmd_args['auto_trigger'] is not None: detector.start_action_client() thread = Thread(target = auto_trigger, args = (detector, cmd_args['auto_trigger'])) thread.start() rospy.spin() thread.join() else: rospy.spin()
'Specifies the minimum confidence for a recognized object to be published to the planning scene', default=0.5, type=float) parser.add_argument( '--topic', help= 'Specifies whether recognized objects should be listened for on a topic', default=False, type=bool) cmd_args = vars(parser.parse_args(args=rospy.myargv(argv=sys.argv)[1:])) rospy.init_node('recognition_client') broadcaster = ObjectBroadcaster() broadcaster.set_minimum_confidence(cmd_args['min_confidence']) detector = ObjectDetector(broadcaster.broadcast) if cmd_args['topic'] is True: detector.start_continuous_monitor_client() if cmd_args['auto_trigger'] is not None: detector.start_action_client() thread = Thread(target=auto_trigger, args=(detector, cmd_args['auto_trigger'])) thread.start() rospy.spin() thread.join() else: rospy.spin()