send_vqa_query_action.py

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#!/usr/bin/env python
 
import actionlib
import jsk_recognition_msgs.msg
import rospy
from sensor_msgs.msg import Image
 
def cb(image):
    ac = actionlib.SimpleActionClient("/vqa/inference_server" , jsk_recognition_msgs.msg.VQATaskAction)
    ac.wait_for_server()
    goal = jsk_recognition_msgs.msg.VQATaskGoal()
    goal.image = image
    goal.questions = ["what does this image decribe?"]
    ac.send_goal(goal)
    ac.wait_for_result()
    print(ac.get_result())
 
rospy.init_node("test_vqa_action")
sub = rospy.Subscriber("/usb_cam/image_raw", Image, cb)
rospy.spin()