Split MoveToMouth Into Two Separate Actions
#128
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21 tasks
amalnanavati
commented
Nov 13, 2023
- Remove poitns with depth 0 - Use already-filtered octomap depth image - Only annotate images with detected face in RGB *and* depth
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Description
In service of #127 . This PR separates bite transfer into two separate actions, one to move to the staging configuration and the other to move to the mouth. It is coupled with
feeding_web_interface#94.Testing procedure
Run the code as documented in the README. Then, run the below sequence of actions and verify that they work as expected.
ros2 action send_goal /MoveAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedbackros2 action send_goal /MoveFromMouthToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveFromMouthToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedbackros2 action send_goal /MoveFromMouthToAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedbackros2 action send_goal /MoveFromMouthToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveFromMouthToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToStagingConfiguration ada_feeding_msgs/action/MoveTo "{}" --feedbackros2 action send_goal /MoveToMouth ada_feeding_msgs/action/MoveToMouth "{}" --feedbackros2 action send_goal /MoveFromMouthToAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedbackfeeding_web_interface#94.Before opening a pull request
python3 -m black .ada_feedingdirectory, run:pylint --recursive=y --rcfile=.pylintrc ..Before Merging
Squash & Merge