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Fix/enable service state and class id enumeration #73

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Fix/enable service state and class id enumeration #73

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8867da4
hola
liamcarlos Jan 3, 2025
05b3e2c
Fix enable service to prevent freezing from sequential identical states
liamcarlos Jan 28, 2025
32afcf8
Update yolo.launch.py
liamcarlos Jan 28, 2025
4912925
Update yolov11.launch.py
liamcarlos Jan 28, 2025
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9 changes: 6 additions & 3 deletions yolo_ros/yolo_ros/yolo_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -199,8 +199,11 @@ def on_shutdown(self, state: LifecycleState) -> TransitionCallbackReturn:
def enable_cb(
self, request: SetBool.Request, response: SetBool.Response
) -> SetBool.Response:
self.enable = request.data
response.success = True
if self.enable != request.data: # Only change state if it's different
self.enable = request.data
response.success = True
else:
response.success = False # Indicate no change was made
return response

def parse_hypothesis(self, results: Results) -> List[Dict]:
Expand Down Expand Up @@ -360,7 +363,7 @@ def image_cb(self, msg: Image) -> None:
aux_msg = Detection()

if results.boxes or results.obb and hypothesis and boxes:
aux_msg.class_id = hypothesis[i]["class_id"]
aux_msg.class_id = i + 1 # hypothesis[i]["class_id"]
aux_msg.class_name = hypothesis[i]["class_name"]
aux_msg.score = hypothesis[i]["score"]

Expand Down