From 9c6cdfa291403ce2eb18e1c705b43786f28bc3a9 Mon Sep 17 00:00:00 2001
From: shalenikol <shaniks77s@gmail.com>
Date: Tue, 20 May 2025 12:07:15 +0300
Subject: [PATCH] del scenario,gym_gz from env_manager + refactoring

---
 env_manager/env_manager/package.xml        |  4 ++--
 rbss_aruco_pe/package.xml                  |  4 ++--
 rbss_aruco_pe/rbs_package.json             | 12 ++++++++++++
 rbss_aruco_pe/scripts/aruco_node_lc.py     | 11 -----------
 rbss_objectdetection/scripts/od_yolo_lc.py |  6 ++++++
 5 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/env_manager/env_manager/package.xml b/env_manager/env_manager/package.xml
index f479e44..effa29f 100644
--- a/env_manager/env_manager/package.xml
+++ b/env_manager/env_manager/package.xml
@@ -7,8 +7,8 @@
   <maintainer email="ur.narmak@gmail.com">narmak</maintainer>
   <license>Apache-2.0</license>
 
-  <depend>scenario</depend>
-  <depend>gym_gz</depend>
+  <!-- <depend>scenario</depend> -->
+  <!-- <depend>gym_gz</depend> -->
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/rbss_aruco_pe/package.xml b/rbss_aruco_pe/package.xml
index b70b077..09c2a6f 100644
--- a/rbss_aruco_pe/package.xml
+++ b/rbss_aruco_pe/package.xml
@@ -17,8 +17,8 @@
   <depend>geometry_msgs</depend>
   <depend>lifecycle_msgs</depend>
   <depend>rbs_skill_interfaces</depend>
-  <depend>open3d</depend>
-  <depend>opencv</depend>
+  <!-- <depend>open3d</depend> -->
+  <!-- <depend>opencv</depend> -->
   <depend>tf_transformations</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/rbss_aruco_pe/rbs_package.json b/rbss_aruco_pe/rbs_package.json
index f8cf87c..489a323 100644
--- a/rbss_aruco_pe/rbs_package.json
+++ b/rbss_aruco_pe/rbs_package.json
@@ -37,6 +37,18 @@
           ],
           "typeAction": "ACTION"
         },
+        { "name": "isAruco", "type": "if", "typeAction": "CONDITION",
+          "param": [
+            {
+              "type": "formBuilder",
+              "dependency": {
+                  "output": {
+                      "aruco_id": "25"
+                  }
+              }
+            }
+          ]
+        },
         { "name": "arucoStop", "type": "stop", "param": [], "typeAction": "ACTION" }
       ],
       "topicsOut": [
diff --git a/rbss_aruco_pe/scripts/aruco_node_lc.py b/rbss_aruco_pe/scripts/aruco_node_lc.py
index 73e7ff7..edb3229 100755
--- a/rbss_aruco_pe/scripts/aruco_node_lc.py
+++ b/rbss_aruco_pe/scripts/aruco_node_lc.py
@@ -34,14 +34,12 @@ Parameters:
 
 Version: 2025-04-16
 """
-
 # ROS2 imports
 import rclpy
 from rclpy.qos import qos_profile_sensor_data
 from cv_bridge import CvBridge
 import message_filters
 from rclpy.lifecycle import Node
-# from rclpy.lifecycle import Publisher
 from rclpy.lifecycle import LifecycleState
 from rclpy.lifecycle import TransitionCallbackReturn
 
@@ -205,9 +203,6 @@ class ArucoLcNode(Node):
                             self.depth_image_topic = topic_name
                         else:
                             self.image_topic = topic_name
-                # elif par["type"] == "formBuilder":
-                #     self.objName = dependency["output"]["object_name"]
-                #     val = dependency["output"]["process"]["selectProcess"]["value"]
 
         # camera info topic for the camera calibration parameters
         self.info_sub = self.create_subscription(CameraInfo, self.info_topic, self.info_callback, qos_profile_sensor_data)
@@ -368,12 +363,6 @@ class ArucoLcNode(Node):
         self.image_pub.publish(self.bridge.cv2_to_imgmsg(frame, "rgb8"))
 
 def main():
-    # rclpy.init()
-    # node = ArucoNode()
-    # rclpy.spin(node)
-
-    # node.destroy_node()
-    # rclpy.shutdown()
     rclpy.init()
 
     executor = rclpy.executors.SingleThreadedExecutor()
diff --git a/rbss_objectdetection/scripts/od_yolo_lc.py b/rbss_objectdetection/scripts/od_yolo_lc.py
index 2fc85a3..929bb99 100755
--- a/rbss_objectdetection/scripts/od_yolo_lc.py
+++ b/rbss_objectdetection/scripts/od_yolo_lc.py
@@ -4,6 +4,7 @@
   ROS 2 program for Object Detection
 
   @shalenikol release 0.4
+  ...
 """
 
 from typing import Optional
@@ -49,6 +50,7 @@ class ObjectDetection(Node):
         self._is_image_mode = False
         self.yolov8_weights_file = ""
         self.model = None
+        self.is_detection = False # object detection indicator in the frame
 
         # for other nodes
         kwargs["allow_undeclared_parameters"] = True
@@ -100,6 +102,8 @@ class ObjectDetection(Node):
             # res = self._cli_getstate.call(req) # the program freezes
             id_,_ = self._state_machine.current_state
             _is = (id_ == State.PRIMARY_STATE_ACTIVE)
+        elif request.command == "isDetection":
+            _is = self.is_detection
         response.ok = _is
         return response
 
@@ -206,6 +210,7 @@ class ObjectDetection(Node):
                 return
             msg = BoundBox()
             msg.is_detection = False
+            self.is_detection = False
             #from ultralytics.engine.results
             cconf = self._threshold # threshold
             bb = None
@@ -218,6 +223,7 @@ class ObjectDetection(Node):
                         bb = c
             if bb:
                 msg.is_detection = True
+                self.is_detection = True
                 msg.name = self.objName
                 msg.x = float(bb.xywhn[0,0])
                 msg.y = float(bb.xywhn[0,1])