renew_tracking.py

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#!/usr/bin/env python
import rospy
 
PKG='jsk_pcl_ros'
 
import imp
try:
    imp.find_module(PKG)
except:
    import roslib;roslib.load_manifest(PKG)
 
from sensor_msgs.msg import PointCloud2
from jsk_recognition_msgs.srv import SetPointCloud2
 
def cloud_cb(cloud):
 
    try:
        setCloud = rospy.ServiceProxy('particle_filter_tracker/renew_model', SetPointCloud2)
        setCloud(cloud, track_target_name)
        rospy.loginfo("Success renew_tracking service");
    except rospy.ServiceException as e:
            rospy.loginfo("Failed to call renew_tracking service")
 
if __name__ == "__main__":
    rospy.init_node('send_renew_model', anonymous=True)
    rospy.wait_for_service('particle_filter_tracker/renew_model')
    track_target_name = rospy.get_param('~track_target_name', 'track_result')
    rospy.Subscriber("selected_pointcloud", PointCloud2, cloud_cb)
    rospy.spin()