quick fix

Code/robot_controller2/Util/launch_notes

@@ -0,0 +1,36 @@
+launch options:
+
+LAUNCH FOR PLAN
+
+cd ~/Master-thesis/Project-Code/ros2_ws
+colcon build (bws)
+source install/local_setup.bash (sws) change in rosrc
+rviz2 -d /home/linux/Master-thesis/Project-Code/ros2_ws/src/interactive_perception/Code/robot_controller2/robot_controller2/resources/config2.rviz
+ros2 run motion_specification_action motion_specification_action_server
+ros2 run robot_controller2 Visualizer
+ros2 run robot_controller2 GT_Visualizer
+ros2 run robot_controller2 Evaluation 
+ros2 run robot_controller2 Reasoner
+
+
+LAUNCH FOR MARKER DETECTION
+cd ~/python_venvs/
+source ~/python_venvs/aruco_venv/bin/activate
+cd ~/Master-thesis/Project-Code/ros2_ws
+bws
+source install/setup.bash 
+ros2 launch aruco_pose_estimation aruco_pose_estimation.launch.py 
+cd ~/Master-thesis/Project-Code/ros2_ws
+source install/setup.bash 
+ros2 launch kinova_vision kinova_vision.launch.py device:=192.168.1.12 
+ros2 run robot_controller2 GT_Visualizer
+
+
+ros2 bag record -o "e4_r1" /corner_position /marker_position /plane_position /tf /tf_static /visualization_marker /ground_truth_corners /ground_truth_centroid /ee_pose /motion_specification/goal /motion_specification/result
+
+
+ros2 bag record -o "e4_r1" \
+  /corner_position /marker_position /plane_position /tf /tf_static /visualization_marker /ground_truth_corners /ground_truth_centroid /ee_pose 
+
+
+

Code/robot_controller2/robot_controller2.egg-info/PKG-INFO

@@ -0,0 +1,20 @@
+Metadata-Version: 2.4
+Name: robot_controller2
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: linux
+Maintainer-email: linux@todo.todo
+License: Apache-2.0
+License-File: LICENSE
+Requires-Dist: setuptools
+Requires-Dist: rclpy
+Requires-Dist: networkx
+Requires-Dist: mapbox-earcut
+Requires-Dist: core-algorithm
+Requires-Dist: PyYAML
+Dynamic: license
+Dynamic: license-file
+Dynamic: maintainer
+Dynamic: maintainer-email
+Dynamic: requires-dist
+Dynamic: summary

Code/robot_controller2/robot_controller2.egg-info/SOURCES.txt

@@ -0,0 +1,28 @@
+LICENSE
+package.xml
+setup.cfg
+setup.py
+action/MyAction.action
+action/__init__.py
+robot_controller2/Evaluation.py
+robot_controller2/GT_Visualizer.py
+robot_controller2/Graph.py
+robot_controller2/Object_knowledge.py
+robot_controller2/Reasoner.py
+robot_controller2/Reasoner_refactored.py
+robot_controller2/Templates.py
+robot_controller2/Util.py
+robot_controller2/Visualizer.py
+robot_controller2/__init__.py
+robot_controller2.egg-info/PKG-INFO
+robot_controller2.egg-info/SOURCES.txt
+robot_controller2.egg-info/dependency_links.txt
+robot_controller2.egg-info/entry_points.txt
+robot_controller2.egg-info/requires.txt
+robot_controller2.egg-info/top_level.txt
+robot_controller2.egg-info/zip-safe
+robot_controller2/config/reasoner_config.yaml
+robot_controller2/resources/config2.rviz
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

Code/robot_controller2/robot_controller2.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

Code/robot_controller2/robot_controller2.egg-info/entry_points.txt

@@ -0,0 +1,8 @@
+[console_scripts]
+Evaluation = robot_controller2.Evaluation:main
+GT_Visualizer = robot_controller2.GT_Visualizer:main
+Reasoner_refactored = robot_controller2.Reasoner_refactored:main
+Templates = robot_controller2.Templates:main
+Util = robot_controller2.Util:main
+Visualizer = robot_controller2.Visualizer:main
+test_ms = robot_controller2.test_motion_spec:main

Code/robot_controller2/robot_controller2.egg-info/requires.txt

@@ -0,0 +1,6 @@
+setuptools
+rclpy
+networkx
+mapbox-earcut
+core-algorithm
+PyYAML

Code/robot_controller2/robot_controller2.egg-info/top_level.txt

@@ -0,0 +1,2 @@
+action
+robot_controller2

Code/robot_controller2/robot_controller2.egg-info/zip-safe

@@ -0,0 +1 @@
+

Code/robot_controller2/robot_controller2/Evaluation.py

@@ -145,50 +145,50 @@ def __init__(self):
         self.subscription = self.create_subscription(
             PoseStamped,
             '/corner_position',
-            self.corner_callback,
+            self.estimated_corners_callback,
             10
         )
 
         self.subscription = self.create_subscription(
             PoseStamped,
             '/plane_position',
-            self.plane_callback,
+            self.estimated_pose_callback,
             10
         )
 
         self.subscription = self.create_subscription(
             Point,
             '/ground_truth_corners',
-            self.point_callback,
+            self.ground_truth_corners_callback,
             10
         )
 
         self.subscription = self.create_subscription(
             PoseStamped,
             '/ground_truth_centroid',
-            self.centroid_callback,
+            self.ground_truth_pose_callback,
             10
         )
 
-    def corner_callback(self, msg):
+    def estimated_corners_callback(self, msg):
         position = msg.pose.position
         orientation = msg.pose.orientation
         frame_id = msg.header.frame_id
         estimated_corners.append([position, frame_id])
 
-    def plane_callback(self, msg):
+    def estimated_pose_callback(self, msg):
         position = msg.pose.position
         orientation = msg.pose.orientation
         frame_id = msg.header.frame_id
         estimated_pose.append([position, orientation, frame_id])
 
-    def centroid_callback(self, msg):
+    def ground_truth_pose_callback(self, msg):
         position = msg.pose.position
         orientation = msg.pose.orientation
         frame_id = msg.header.frame_id
         ground_truth_pose.append([position, orientation, frame_id])
 
-    def point_callback(self, msg):
+    def ground_truth_corners_callback(self, msg):
         position = msg
         ground_truth_corners.append(position)