count_objects.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('estirabot_apps')
import rospy
import sys
from std_msgs.msg import String, Int32
from pprint import pprint

objects_seen = {'0' : 0, '1' : 0, '2': 0, '3': 0, '4': 0, '5': 0, '6': 0, '7' :0, '8': 0, '9':0}

def callback(data):
    rospy.loginfo("Seen: %s",data.data)
    objects_seen[str(data.data)] = objects_seen[str(data.data)] + 1

def listener():
    rospy.init_node('count_objects', anonymous=True)
    rospy.Subscriber("/iri_textile_count/num_objects_found", Int32, callback)
    rospy.spin()

if __name__ == '__main__':
    if (len(sys.argv) < 1):
        print "Usage: count_objects [expected number]"
        exit

    listener()
    print "Real number of clothes: " + str(sys.argv[1])
    pprint(objects_seen)