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ori-orion / orion_recognition

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Integrate with SOM #13

Open kv13arm opened 1 year ago

MatthewMunks commented 1 year ago
MatthewMunks commented 1 year ago

https://github.com/ori-orion/orion_semantic_map/commit/838c6027b985ad343db4d8b5d0a039af305edcac ^^^ Beginning to create a class interface. The idea will be to copy this over once complete. (Want to copy over at the last moment so that updates to the MemoryManager class get carried over.)

MatthewMunks commented 1 year ago

https://github.com/ori-orion/orion_semantic_map/commit/b9e517467af26a46f4b1dc0db29cca4b1570ea32 Getting the update function in.

We have object tracking, but what if that object is out of view for a little bit. Take the example of a bottle on the table. The robot turns around, and then looks again at the bottle a second time. Is the consistency across this gap covered by perception, or is it something for SOM to deal with? (Can be easily done, I just need to know!)

MatthewMunks commented 1 year ago

I think I'll create a config file for global params in orion_hsr_bringup so that these remain constant throughout all tasks.

MatthewMunks commented 1 year ago

The other question is as to the publishing of tfs. I've noticed a slight lag on the location of the tfs being published by the old recognition system on rviz. They are being published slightly ahead of the motion of the head itself (which is interesting). Whether we want the tfs being published as per the old system (maybe under slightly different names?), is something to work out I think.

MatthewMunks commented 1 year ago

Add an entry to som for tf_id

MatthewMunks commented 1 year ago

Current branches for other packages that are related to this:

MatthewMunks commented 1 year ago

For the tfs, can ' ' -> '_'?