Add reset request subscription to selector node#83
Open
TomaszTB wants to merge 2 commits intoNVIDIA-ISAAC-ROS:release-3.2from
Open
Add reset request subscription to selector node#83TomaszTB wants to merge 2 commits intoNVIDIA-ISAAC-ROS:release-3.2from
TomaszTB wants to merge 2 commits intoNVIDIA-ISAAC-ROS:release-3.2from
Conversation
TomaszTB
force-pushed
the
selector-reset-request
branch
from
72c08f2 to
715496d
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Currently when using the FoundationPose selector node, pose estimation can only be reset periodically by a wall timer. I found the need to reset pose estimation programmatically when the tracking fails to track the actual object.
I attempted publishing the required messages directly on the
pose_estimationtopics but that didn't work consistently. Due to a race condition, occasionally pose estimation would run but the tracking would be fed back the last (incorrect) pose that it produced.To enable consistent programmatic resetting, this PR adds a subscription to
Emptymessages on aresettopic that triggers the pose estimation reset when a message is received.