def search_object(tf_listener):
"""
Searches for objects using the detector.
Returns:
a list of (pos, dims, names) where pos is a PoseStamped(converted in the self.frame fame with
the object pose if the object is found), dims is a Vector3 specifing the x,y,z dimensions of
the box and names are the names of the objects.
None if no object is found
"""
detector = GenericDetector()
res = detector.detect()
if not res:
return None
coll_res = detector.call_collision_map_processing(res)
isinstance(coll_res, TabletopCollisionMapProcessingResponse)
rospy.loginfo("%d objects found, changing their poses into frame %s",
len(coll_res.graspable_objects),frame)
poses = []
dims = []
for graspable in coll_res.graspable_objects:
cluster = graspable.cluster
box_pose = detector.detect_bounding_box(cluster).pose
tf_listener.waitForTransform(frame,
box_pose.header.frame_id,
rospy.Time(0),
rospy.Duration(1)
)
object_pose = tf_listener.transformPose(frame, box_pose)
poses.append(object_pose)
dims.append(detector.last_box_msg.box_dims)
return poses, dims, coll_res.collision_object_names
