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()