def sense(self, action):
"""
Perform an action at current location and get the belief distribution
over all categories.
"""
try:
req = InfoMaxRequest()
req.num_objects = self.num_objects
req.objectNames = self.category_names
req.actionNames = self.action_names
req.numCats = self.num_categories
req.catID = self.objects[self.current_location]
req.actionID.val = action
rospy.logdebug(
'calling sense service with action %d (%s) on object %d(%s)' %
(req.actionID.val, self.action_names[req.actionID.val],
req.catID, self.category_names[req.catID]))
if not self.robot_server: res = self.get_belief_distribution(req)
else: res = self.robot_server.handle_infomax_request(req)
self.current_location = res.location
self.current_state = res.state
return res
except rospy.ServiceException as e:
rospy.logerr('Service call failed: %s' % e)
return None
def sense(self, action):
"""
Perform an action at current location and get the belief distribution
over all categories.
"""
try:
req = InfoMaxRequest()
req.num_objects = self.num_objects
req.objectNames = self.category_names
req.actionNames = self.action_names
req.numCats = self.num_categories
req.catID = self.objects[self.current_location]
req.actionID.val = action
rospy.logdebug('calling sense service with action %d (%s) on object %d(%s)' %
(req.actionID.val, self.action_names[req.actionID.val], req.catID, self.category_names[req.catID]))
if not self.robot_server: res = self.get_belief_distribution(req)
else: res = self.robot_server.handle_infomax_request(req)
self.current_location = res.location
self.current_state = res.state
return res
except rospy.ServiceException as e:
rospy.logerr('Service call failed: %s' % e)
return None
def process_classify(req):
return (['obj1', 'obj2'], [0.5, 0.5])
if __name__ == '__main__':
rospy.Service('/classify', classify, process_classify)
rospy.init_node('infomax_test', anonymous=True)
rospy.loginfo('waiting for /get_category_distribution service')
rospy.wait_for_service('/get_category_distribution')
infomax_srv = rospy.ServiceProxy('/get_category_distribution', InfoMax)
rospy.loginfo('connected to get_category_distribution service')
actions = [InfomaxAction.DROP] * 1
req = InfoMaxRequest()
req.objectNames = [
'pink_glass', #0
'german_ball', #1
'blue_cup', #2
'blue_spiky_ball', #3
'screw_box', #4
'wire_spool', #5
'sqeaky_ball', #6
'duck_tape_roll', #7
'ace_terminals', #8
'chalkboard_eraser', #9
]
req.actionNames = map(str, actions)
req.numCats = len(req.objectNames)
req.catID = 4
def process_classify(req):
return (['obj1','obj2'], [0.5,0.5])
if __name__ == '__main__':
rospy.Service('/classify', classify, process_classify)
rospy.init_node('infomax_test', anonymous=True)
rospy.loginfo('waiting for /get_category_distribution service')
rospy.wait_for_service('/get_category_distribution')
infomax_srv = rospy.ServiceProxy('/get_category_distribution', InfoMax)
rospy.loginfo('connected to get_category_distribution service')
actions = [InfomaxAction.DROP]*1
req = InfoMaxRequest()
req.objectNames = ['pink_glass', #0
'german_ball', #1
'blue_cup', #2
'blue_spiky_ball', #3
'screw_box', #4
'wire_spool', #5
'sqeaky_ball', #6
'duck_tape_roll', #7
'ace_terminals', #8
'chalkboard_eraser', #9
]
req.actionNames = map(str, actions)
req.numCats = len(req.objectNames)
req.catID = 4
