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BT for pose estimation

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This commit is contained in:
shalenikol 2023-11-14 13:04:11 +03:00
parent 077872e489
commit 26269b6678
3 changed files with 98 additions and 64 deletions
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5
rbs_bt_executor/src/PoseEstimation.cpp
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@ -21,7 +21,7 @@ public:
_set_params_client =
this->_node->create_client<rcl_interfaces::srv::SetParameters>(
"/image_sub2/set_parameters");
_model_name = getInput<std::string>("ObjectName").value();
}
@ -52,7 +52,7 @@ private:
uint8_t transition_id_{};
std::string _model_name{};
std::string _model_path{};
std::string _req_type;
std::string _req_type{};
rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr
_set_params_client;
std::vector<rcl_interfaces::msg::Parameter> _params;
@ -87,6 +87,7 @@ private:
void set_mesh_param() {
auto _package_name =
ament_index_cpp::get_package_share_directory("rbs_perception");
RCLCPP_INFO_STREAM(_node->get_logger(), _package_name);
_model_path = build_model_path(_model_name, _package_name);
auto param_request =