rs_v4r_ActionServer

This package provides an executable that runs all modules for the perception. It includes action servers running specific pipelines in RoboSherlock.

Dependencies

The package depends on the follwoing packages

• RoboSherlock
• The rs_v4r RoboSherlock Package
• Suturo Perception Msgs
• actionlib
• geometry msgs

Installation

Make sure that you have RoboSherlock installed. If that is the case, a simple catkin build is enough

Usage

To start the module, type rosrun rs_v4r_ActionServer perception_server

This starts all action servers handling requests for the perception module. As a server is started, an individual RoboSherlock instance is created. The pipeline associated with the instance will be processed as soon as an action client sends a request to the specific server.

Actions

Currently there is on actions and their respective server defined:

• ExtractObjectInformation For futher detail please look at the actions defined in the suturo_msgs.