#include <FakeObjectRecognizer.h>

Public Member Functions
	FakeObjectRecognizer ()
virtual	~FakeObjectRecognizer ()
Private Types
typedef object_msgs::ObjectInfo	ObjectInfoMsg
typedef object_msgs::Object	ObjectMsg
Private Member Functions
void	publishRecognitionEvent (const ros::TimerEvent &e)
bool	queryObjectInfo (const std::string &name, object_msgs::Object &object, bool include_geometry, bool printErrors)
bool	recognizeObject (gazebo_test_tools::RecognizeGazeboObject::Request &req, gazebo_test_tools::RecognizeGazeboObject::Response &res)
bool	waitForQueryObjectInfo (const std::string &name, object_msgs::Object &object, bool include_geometry, float timeout, float checkStep, bool printErrors)
Private Attributes
std::set< std::string >	addedObjects
boost::mutex	addedObjectsMtx
ros::NodeHandle	node
ros::ServiceClient	object_info_client
ros::Publisher	object_pub
std::string	OBJECTS_TOPIC
float	PUBLISH_RECOGNISED_OBJECT_RATE
ros::Timer	publishTimer
ros::ServiceServer	recognize_object_srv
ros::ServiceClient	register_object_tf_client
std::string	SERVICE_RECOGNISE_OBJECT_TOPIC
std::string	SERVICE_REGISTER_OBJECT_TF_TOPIC
std::string	SERVICE_REQUEST_OBJECT_TOPIC

Detailed Description

Provides a service which publishes a object_msgs/Object, after the a service request of type *gazebo_test_tools/RecognizeGazeboObject* is received.

Note that the class gazebo_state_plugins/GazeboObjectInfo also offers the functionality to continusously publish object_msgs/Object.msg, but it does so for *all* existing objects (except the ones excluded at start-up). With the FakeObjectRecognizer, it is possible to switch on/off the publishing of object_msgs/Object information for specific objects only at various times. Because of this, when you use FakeObjectRecogniser, you will need to make sure that gazebo_state_plugins/GazeboObjectInfo is run with this parameter set to false:

``gazebo_state_plugins/publish_world_objects: false``

This is because in this case, you want the FakeObjectRecognizer to be the one to publish the information instead of GazeboObjectInfo.

Author:: Jennifer Buehler

Date:: February 2016

Definition at line 41 of file FakeObjectRecognizer.h.

Member Typedef Documentation

typedef object_msgs::ObjectInfo gazebo_test_tools::FakeObjectRecognizer::ObjectInfoMsg [private]

Definition at line 45 of file FakeObjectRecognizer.h.

typedef object_msgs::Object gazebo_test_tools::FakeObjectRecognizer::ObjectMsg [private]

Definition at line 44 of file FakeObjectRecognizer.h.

Constructor & Destructor Documentation

FakeObjectRecognizer::FakeObjectRecognizer ( )

Definition at line 15 of file FakeObjectRecognizer.cpp.

FakeObjectRecognizer::~FakeObjectRecognizer ( ) [virtual]

Definition at line 43 of file FakeObjectRecognizer.cpp.

Member Function Documentation

void FakeObjectRecognizer::publishRecognitionEvent ( const ros::TimerEvent & e ) [private]

Definition at line 46 of file FakeObjectRecognizer.cpp.

bool FakeObjectRecognizer::queryObjectInfo	(	const std::string &	name,
		object_msgs::Object &	object,
		bool	include_geometry,
		bool	printErrors
	)		`[private]`

Uses the object information service to request object information

Definition at line 137 of file FakeObjectRecognizer.cpp.

bool FakeObjectRecognizer::recognizeObject	(	gazebo_test_tools::RecognizeGazeboObject::Request &	req,
		gazebo_test_tools::RecognizeGazeboObject::Response &	res
	)		`[private]`

Definition at line 66 of file FakeObjectRecognizer.cpp.

bool FakeObjectRecognizer::waitForQueryObjectInfo	(	const std::string &	name,
		object_msgs::Object &	object,
		bool	include_geometry,
		float	timeout,
		float	checkStep,
		bool	printErrors
	)		`[private]`