-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Split MoveToMouth Into two Actions (#94)
* [WIP] Mostly implemented, a few lingering bugs * Fixed bugs, tested in sim * Fixed back/resume calls * Lowered dummy FaceDetection time * Added MoveFromMouthToStagingConfiguration * Add the option to auto-continue or not from face detection * Reduce distance for valid mouths to 1.25m * Clear Octomap on Retry * Show detected food once the SegmentFood action has been called
- Loading branch information
1 parent
ef0f61c
commit c774e43
Showing
16 changed files
with
800 additions
and
47 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
22 changes: 22 additions & 0 deletions
22
feeding_web_app_ros2_test/feeding_web_app_ros2_test/MoveFromMouthToStagingConfiguration.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,22 @@ | ||
#!/usr/bin/env python3 | ||
from ada_feeding_msgs.action import MoveTo | ||
from feeding_web_app_ros2_test.MoveToDummy import MoveToDummy | ||
import rclpy | ||
from rclpy.executors import MultiThreadedExecutor | ||
|
||
|
||
def main(args=None): | ||
rclpy.init(args=args) | ||
|
||
move_from_mouth_to_staging_configuration = MoveToDummy( | ||
"MoveFromMouthToStagingConfiguration", MoveTo | ||
) | ||
|
||
# Use a MultiThreadedExecutor to enable processing goals concurrently | ||
executor = MultiThreadedExecutor() | ||
|
||
rclpy.spin(move_from_mouth_to_staging_configuration, executor=executor) | ||
|
||
|
||
if __name__ == "__main__": | ||
main() |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
20 changes: 20 additions & 0 deletions
20
feeding_web_app_ros2_test/feeding_web_app_ros2_test/MoveToStagingConfiguration.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,20 @@ | ||
#!/usr/bin/env python3 | ||
from ada_feeding_msgs.action import MoveTo | ||
from feeding_web_app_ros2_test.MoveToDummy import MoveToDummy | ||
import rclpy | ||
from rclpy.executors import MultiThreadedExecutor | ||
|
||
|
||
def main(args=None): | ||
rclpy.init(args=args) | ||
|
||
move_to_staging_configuration = MoveToDummy("MoveToStagingConfiguration", MoveTo) | ||
|
||
# Use a MultiThreadedExecutor to enable processing goals concurrently | ||
executor = MultiThreadedExecutor() | ||
|
||
rclpy.spin(move_to_staging_configuration, executor=executor) | ||
|
||
|
||
if __name__ == "__main__": | ||
main() |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
272 changes: 272 additions & 0 deletions
272
feedingwebapp/public/robot_state_imgs/move_to_staging_configuration.svg
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.