A config file for the detector is included under mdr_perceive_plane_action/config.
The PR also prevents the action from creating a recognition proxy unless this feature is enabled through the appropriate launch file parameter; otherwise, the proxy was created without being used internally.
Tests to verify the changes
The working of the modified component has been verified with a bag file that was recently collected from the HSR (here, the robot observes small objects on the floor).
Summary of changes
This PR modifies the launch file of the
perceive_planeaction, which now loads a plane detector that uses a PyTorch-based detector (as in https://github.com/b-it-bots/mas_domestic_robotics/pull/245, Faster R-CNN ResNet-50 FPN model is used). This thus means that the repository does not depend onssd_keras_rosanymore.A config file for the detector is included under
mdr_perceive_plane_action/config.The PR also prevents the action from creating a recognition proxy unless this feature is enabled through the appropriate launch file parameter; otherwise, the proxy was created without being used internally.
Tests to verify the changes
The working of the modified component has been verified with a bag file that was recently collected from the HSR (here, the robot observes small objects on the floor).