def get_segmentation(self, data):
goal = SegmentGoal()
goal.image = data.image
goal.depth = data.depth
# this callback will set the member variable mask
self.segment_client.send_goal(goal, done_cb=self.segmentDoneCB,
feedback_cb=self.segmentFeedbackCB)
self.segment_client.wait_for_result()
return self.mask
def get_segmentation(self, data):
goal = SegmentGoal()
goal.image = data.image
goal.depth = data.depth
rospy.loginfo("got segmentation server")
# this callback will set the member variable mask
self.mask = None
self.segment_client.send_goal(goal, done_cb=self.segmentDoneCB)
self.segment_client.wait_for_result()
return self.mask
def get_segmentation(self, data):
goal = SegmentGoal()
goal.image = data.image
goal.depth = data.depth
rospy.loginfo("got segmentation server")
# this callback will set the member variable mask
self.mask = None
self.segment_client.send_goal(goal, done_cb=self.segmentDoneCB)
self.segment_client.wait_for_result()
return self.mask
def get_segmentation(self, kinect_data):
""" And this handles calling the segmentation actionlib """
print "waiting for segmentation server"
self.segment_client.wait_for_server()
print "... got segmentation server"
goal = SegmentGoal()
goal.image = kinect_data.image
goal.depth = kinect_data.depth
print "Attempting to get segmentation"
self.segment_client.send_goal(goal)
self.segment_client.wait_for_result()
state = self.segment_client.get_state()
result = self.segment_client.get_result()
return (state, result)
def get_segmentation(self, kinect_data):
""" And this handles calling the segmentation actionlib """
print "waiting for segmentation server"
self.segment_client.wait_for_server()
print "... got segmentation server"
goal = SegmentGoal()
goal.image = kinect_data.image
goal.depth = kinect_data.depth
print "Attempting to get segmentation"
self.segment_client.send_goal(goal)
self.segment_client.wait_for_result()
state = self.segment_client.get_state()
result = self.segment_client.get_result()
return (state, result)
def segment_client(input_image, input_depth):
client = actionlib.SimpleActionClient('segment_service', SegmentAction)
rospy.loginfo('constructed simple action client')
# Waits until the action server has started up and started
# listening for goals.
client.wait_for_server()
rospy.loginfo('got server!')
# tests preemption by "cancel_all_goals"
goal = SegmentGoal(image=input_image, depth=input_depth)
client.send_goal(goal)
rospy.loginfo('sent first goal')
client.wait_for_result()
rospy.loginfo('and, got result!')
print client.get_state()
