def markers_callback(self, msg):
object_poses = dict()
print("updating objects")
for object in msg.objects:
pose = GraspingHelper.getPoseStampedFromPoseWithCovariance(
object.pose)
object_poses[str(object.type.key)] = pose
if rospy.Time.now() - self.time_exited > rospy.Duration(2.0):
self.pick_and_place(msg.objects, object_poses)
self.time_exited = rospy.Time.now()
def object_callback(self, msg): self.objects = [] self.object_poses = dict() for object in msg.objects: self.objects.append(object.type.key) self.object_poses[object.type.key] = GraspingHelper.getPoseStampedFromPoseWithCovariance(object.pose) self.broadcast_transforms() if not self.is_annotating: self.is_annotating = True self.current_thread = Thread(None, self.annotate_grasps) self.current_thread.start()
def markers_callback(self, msg):
object_poses = dict()
if len(msg.objects) == 0:
rospy.logerr("No objects identified")
return
for object in msg.objects:
pose = GraspingHelper.getPoseStampedFromPoseWithCovariance(
object.pose)
object_poses[str(object.type.key)] = pose
self.visualize_grasps(object_poses)
def markers_callback(self, msg):
object_poses = dict()
if len(msg.objects) == 0:
rospy.logerr("No objects identified")
return
rospy.loginfo("updating objects")
for object in msg.objects:
pose = GraspingHelper.getPoseStampedFromPoseWithCovariance(
object.pose)
object_poses[str(object.type.key)] = pose
if rospy.Time.now() - self.time_exited > rospy.Duration(10.0):
self.pick_and_place(msg.objects, object_poses)
self.time_exited = rospy.Time.now()
rospy.loginfo("updating objects")
def markers_callback(self, msg):
object_poses = dict()
self.objects = ["kinect", "table", "tripod", "boundary1", "boundary2"]
for object in self.objects:
self.last_time_seen[object] = rospy.Time.now()
if len(msg.objects) == 0:
rospy.logerr("No objects identified")
return
for object in msg.objects:
self.last_time_seen[object.type.key] = rospy.Time.now()
pose = GraspingHelper.getPoseStampedFromPoseWithCovariance(
object.pose)
self.add_object_at_pose(str(object.type.key), pose)
object_poses[str(object.type.key)] = pose
self.objects.append(object.type.key)
marker = MoveHelper.create_pose_marker(pose, object.type.key, 2,
15, (1, 0, 0, 1))
self.markers_publisher.publish(marker)
def markers_callback(self, msg): self.object_poses = dict() for object in msg.objects: pose = GraspingHelper.getPoseStampedFromPoseWithCovariance(object.pose) self.object_poses[str(object.type.key)] = pose