ui_detection.py

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#!/usr/bin/python
import roslib
roslib.load_manifest('srs_assisted_detection')


import rospy

from srs_assisted_detection.srv import *
from cob_object_detection_msgs.msg import *
from cob_object_detection_msgs.srv import *
from sensor_msgs.msg import *
from std_msgs.msg import *


detector_response=UiDetectorResponse()

def detectObjectSrv(req):
        rospy.loginfo("kam was an")
        rospy.wait_for_service('/object_detection/detect_object')
        try:
            string=String()
            string.data=req.object_name.data
            rospy.loginfo(string)

            srv_get_Objects = rospy.ServiceProxy('/object_detection/detect_object', DetectObjects)
            roi=RegionOfInterest()
            resp1=srv_get_Objects(req.object_name,roi)
            #rospy.loginfo(resp1.object_list.detections[0])
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e
            
        # detector_response => 
        # list of the objects
        # cob_object_detection_msgs/DetectionArray object_list
        global detector_response # detector_response=UiDetectorResponse()
        if len(resp1.object_list.detections) > 0:
            detector_response.object_list.header=resp1.object_list.header
            for x in range(len(resp1.object_list.detections)):
                detector_response.object_list.detections.insert(x,resp1.object_list.detections[x])
            s.shutdown()
            return detector_response
        else:
            s.shutdown()
            rospy.loginfo("There is no detected object!")
            return detector_response

def asisted_Detection_server():
 #   rospy.init_node('asisted_Detection_server')
    global s
    s = rospy.Service('assisted_detection', UiDetector, detectObjectSrv)
    rospy.loginfo("Assisted Detection ready.")
    s.spin()
    return detector_response

if __name__ == "__main__":

    asisted_Detection_server()