(color_extractor) Create a node listener and call service #228
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This is a first good step. Though the current implementation does create a service client on each image. This is very inefficient. Please change it to a class, i.e. https://github.com/tue-robotics/hero_bringup/blob/aadf90641a2517e71c790ceb2e7c00d14a865a80/scripts/gazebo_pose_setter
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And make sure to add the new script to be executable and add it to the list of scripts to be installed, (keep the list alphabetical) As right now catkin_lint is complaining... |
| class ExtractColorClient(object): | ||
| def __init__(self, image_topic, color_service): | ||
| self.image_sub = rospy.Subscriber(image_topic, Image, self.color_callback) | ||
| self.color_proxy = rospy.ServiceProxy(color_service, Recognize) | ||
| self.color_proxy.wait_for_service(timeout=20) |
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| class ExtractColorClient(object): | |
| def __init__(self, image_topic, color_service): | |
| self.image_sub = rospy.Subscriber(image_topic, Image, self.color_callback) | |
| self.color_proxy = rospy.ServiceProxy(color_service, Recognize) | |
| self.color_proxy.wait_for_service(timeout=20) | |
| class ExtractColorClient: | |
| def __init__(self, image_topic, color_service): | |
| self.color_proxy = rospy.ServiceProxy(color_service, Recognize) | |
| self.color_proxy.wait_for_service(timeout=20) | |
| self.image_sub = rospy.Subscriber(image_topic, Image, self.color_callback) |
As the subscriber will start immediately, but the service client will not be ready yet. So that could lead to an error.
| parser.add_argument('--topic', default='/image', type=str, help='Topic') | ||
| args = parser.parse_args() |
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Maybe also add an argument for the service
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Maybe good to let rospy filter the ros args
| parser.add_argument('--topic', default='/image', type=str, help='Topic') | |
| args = parser.parse_args() | |
| parser.add_argument('--topic', default='/image', type=str, help='Topic') | |
| args = parser.parse_args(rospy.myargv()) |
MatthijsBurgh
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2 participants
I want to receive the messages from /pose_estimation node. Then, I will try to crop an specific part of the image (for example: head or chest) to call the service to extract the color.