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b-it-bots / mas_domestic_robotics

Robot-independent ROS packages for domestic applications
GNU General Public License v3.0
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[handle_open_action] Handle detection #207

Closed alex-mitrevski closed 4 years ago

alex-mitrevski commented 4 years ago

Summary of changes

This PR modifies the handle_open action so that it includes handle detection (an object detection action as defined at https://github.com/b-it-bots/mas_perception_libs/blob/devel/ros/src/mas_perception_libs/scene_detection_action.py is used for that purpose). Since the handle detection is now part of the action, the pose is not passed as an action goal anymore; however, the handle type is still passed as an optional argument so that the results of the detection can be cross-checked with the expected handle type.

Future TODOs

cc @njanirudh

sonarcloud[bot] commented 4 years ago

Kudos, SonarCloud Quality Gate passed!

Bug A 0 Bugs
Vulnerability A 0 Vulnerabilities (and Security Hotspot 0 Security Hotspots to review)
Code Smell A 3 Code Smells

0.0% 0.0% Coverage
0.0% 0.0% Duplication

argenos commented 4 years ago

@alex-mitrevski I'll remove the reviewers, could you add them back once it's ready to be merged?

alex-mitrevski commented 4 years ago

Since it's been a long time that any work has been done in this context, I have reduced the scope of this PR to only handle detection in order to merge it.

The remaining points, which are listed as TODOs in the PR description, can be addressed with additional PRs.