Object detection: accumulate N observations before publishing anything

Pick and Place: finally I can place properly! (see moveit/moveit_ros#577 for details)
corot · Nov 16, 2015 · 2441cc6 · 2441cc6
1 parent 40054c0
commit 2441cc6
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Showing 4 changed files with 317 additions and 184 deletions.
diff --git a/turtlebot_arm_object_manipulation/CMakeLists.txt b/turtlebot_arm_object_manipulation/CMakeLists.txt
@@ -4,7 +4,7 @@ project(turtlebot_arm_object_manipulation)
 SET(CMAKE_CXX_FLAGS "-std=c++0x")
 
 # setup
-find_package(catkin REQUIRED actionlib actionlib_msgs interactive_markers object_recognition_msgs roscpp visualization_msgs arbotix_msgs moveit_msgs moveit_core moveit_ros_planning_interface)
+find_package(catkin REQUIRED actionlib actionlib_msgs interactive_markers object_recognition_msgs roscpp visualization_msgs arbotix_msgs moveit_msgs moveit_core moveit_ros_planning_interface yocs_math_toolkit)
 find_package(Boost REQUIRED system filesystem)
 find_package(PCL REQUIRED)
 link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
@@ -23,7 +23,7 @@ add_action_files(FILES
                  )
 
 generate_messages(DEPENDENCIES actionlib_msgs geometry_msgs)
-catkin_package(DEPENDS actionlib actionlib_msgs interactive_markers object_recognition_msgs roscpp visualization_msgs arbotix_msgs moveit_msgs moveit_core moveit_visual_tools moveit_ros_planning_interface)
+catkin_package(DEPENDS actionlib actionlib_msgs interactive_markers object_recognition_msgs roscpp visualization_msgs arbotix_msgs moveit_msgs moveit_core moveit_visual_tools moveit_ros_planning_interface yocs_math_toolkit)
 
 
 # nodes

diff --git a/turtlebot_arm_object_manipulation/package.xml b/turtlebot_arm_object_manipulation/package.xml
@@ -26,6 +26,7 @@
   <build_depend>moveit_msgs</build_depend>
   <build_depend>moveit_core</build_depend>
   <build_depend>moveit_ros_planning_interface</build_depend>
+  <build_depend>yocs_math_toolkit</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>actionlib</run_depend>
@@ -37,4 +38,5 @@
   <run_depend>moveit_msgs</run_depend>
   <run_depend>moveit_core</run_depend>
   <run_depend>moveit_ros_planning_interface</run_depend>
+  <run_depend>yocs_math_toolkit</run_depend>
 </package>