Merge remote-tracking branch 'zoe-fork/main' into main

tasks/receptionist/config/lab.yaml

@@ -18,17 +18,32 @@ priors:
     - orange juice
     - red wine
     - tropical juice
+# wait_pose: 
+#   position: 
+#     x: 2.4307581363168773
+#     y: -1.661594410669659
+#     z: 0.0
+#   orientation: 
+#     x: 0.0
+#     y: 0.0
+#     z: 0.012769969339563213
+#     w: 0.9999184606171978
+
 wait_pose: 
   position: 
-    x: 2.4307581363168773
-    y: -1.661594410669659
+    x: 4.637585370589175
+    y: 6.715591164127531
     z: 0.0
   orientation: 
     x: 0.0
     y: 0.0
-    z: 0.012769969339563213
-    w: 0.9999184606171978
-wait_area: [[2.65, -0.61], [4.21, -0.33], [4.58, -2.27], [2.67, -2.66]]
+    z: 0.478893309417269
+    w: 0.4
+#0.478893309417269
+#0.8778731105321406
+
+# wait_area: [[2.65, -0.61], [4.21, -0.33], [4.58, -2.27], [2.67, -2.66]]
+wait_area: [[3.60, 8.56], [4.69, 8.90], [4.98, 7.59], [3.95, 7.34]]
 seat_pose:
   position: 
     x: 1.1034954065916212

tasks/receptionist/doc/PREREQUISITES.md

@@ -1 +1,8 @@
 If you would like to view the documentation in the browser, ensure you have at [Node.js v16.x](https://nodejs.org/en) installed.
+
+
+Please make sure the following models are installed in order to run this code: 
+
+- lasr_vision_yolov8 requires yolov8n-seg.pt in lasr_vision_yolov8/models/
+- lasr_vision_feature_extraction requires model.pth in lasr_vision_feature_extraction/models/ 
+- lasr_vision_clip requires a model from hugging face, this can be downloaded by running 'rosrun lasr_vision_clip vqa' 

tasks/receptionist/launch/setup.launch

@@ -8,7 +8,8 @@
     <node pkg="lasr_speech_recognition_whisper" type="transcribe_microphone_server" name="transcribe_speech" output="screen" args="--mic_device $(arg whisper_device_param)"/>
 
     <!--     STATIC POINTS     -->
-    <rosparam command="load" file="$(find receptionist)/config/$(arg config).yaml" />
+    <!--<rosparam command="load" file="$(find receptionist)/config/$(arg config).yaml" />-->
+    <rosparam command="load" file="$(find receptionist)/config/lab.yaml"/>
 
     <!--     MOTIONS     -->
     <rosparam command="load" file="$(find lasr_skills)/config/motions.yaml"/>

tasks/receptionist/scripts/main.py

@@ -1,28 +1,32 @@
 #!/usr/bin/env python3
 import rospy
 from receptionist.state_machine import Receptionist
+import smach 
+import smach_ros
 
 from geometry_msgs.msg import Pose, Point, Quaternion
 from shapely.geometry import Polygon
 
 if __name__ == "__main__":
     rospy.init_node("receptionist_robocup")
-    wait_pose_param = rospy.get_param("/receptionist/wait_pose")
+   # wait_pose_param = rospy.get_param("/receptionist/wait_pose")
+    wait_pose_param = rospy.get_param("/wait_pose/")
+
     wait_pose = Pose(
         position=Point(**wait_pose_param["position"]),
         orientation=Quaternion(**wait_pose_param["orientation"]),
     )
 
-    wait_area_param = rospy.get_param("/receptionist/wait_area")
+    wait_area_param = rospy.get_param("/wait_area")
     wait_area = Polygon(wait_area_param)
 
-    seat_pose_param = rospy.get_param("/receptionist/seat_pose")
+    seat_pose_param = rospy.get_param("/seat_pose")
     seat_pose = Pose(
         position=Point(**seat_pose_param["position"]),
         orientation=Quaternion(**seat_pose_param["orientation"]),
     )
 
-    seat_area_param = rospy.get_param("/receptionist/seat_area")
+    seat_area_param = rospy.get_param("/seat_area")
     seat_area = Polygon(seat_area_param)
 
     receptionist = Receptionist(
@@ -41,6 +45,11 @@
             },
         },
     )
+
+    sis = smach_ros.IntrospectionServer('smach_server',receptionist,'/SM_ROOT')
+    sis.start()
     outcome = receptionist.execute()
+
+    sis.stop()
     rospy.loginfo(f"Receptionist finished with outcome: {outcome}")
     rospy.spin()