def command_detect(self, confidence):
if self._broadcaster is None:
self._broadcaster = ObjectBroadcaster()
if self._detector is None:
self._detector = ObjectDetector(self._broadcaster.broadcast)
self._detector.start_action_client()
self._broadcaster.set_minimum_confidence(confidence)
self._detector.trigger_detection()
return (MoveGroupInfoLevel.SUCCESS, "OK")
'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()
