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strands-project / v4r_ros_wrappers

ROS wrappers for the V4R library
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Object pose and object tracker confidence #36

Closed lluissalord closed 8 years ago

lluissalord commented 8 years ago

I think that should be nice to have stamped the messages of /object_tracker/object_pose and /object_tracker/object_tracker_confidence. So we can know which confidence have every pose. To do that I have created a new message (Confidence.msg) in a new package (may be could be in the object_tracker_srv_definitions changing this name). And I have used TransformStamped instead of Transform. May be a better solution should be create a new message for the Transform in the way that nobody, who is using v4r_ros_wrappers, should not change their code.

What do you think about that?

strands-jenkins commented 8 years ago

Can one of the STRANDS admins verify this patch? Post a comment containing "ok to test" to enable Jenkins builds for this pull request.

lluissalord commented 8 years ago

May be another option is instead of a TransformStamped, a Transform with his confidence and then we don't need to modify the message for the topic /object_tracker/object_tracker_confidence.

ToMadoRe commented 8 years ago

okay for me. Maybe @RaresAmbrus can you test this version next time you run the object learning pipeline so we know if anything needs to be adapted? And give a final okay if nothing breaks :-)

lluissalord commented 8 years ago

I have made a better version, doing like in my last comment. Using then a new message that has the Transform features and the confidence of the tracker for that pose. If you want I can update it.

RaresAmbrus commented 8 years ago

I think this is OK as long as the get_tracking_results service is not changed as we have used that in the past and we would have to dig through the code and update it.

lluissalord commented 8 years ago

I have update the pull request. I think this is better because with this option is easier to use.