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Actionlib Server

The Actionlib server helps you retrieve the identified objects in the current snapshot. It is defined as follows:

# Optional ROI to use for the object detection
bool use_roi
float32[] filter_limits
---
# Send the found objects, see the msg files for docs
object_recognition_msgs/RecognizedObjectArray recognized_objects
---
#no feedback

To run it, you just need to start it with:

rosrun object_recognition_ros server -c whatever_config_file.ork

You can also test it using the client:

rosrun object_recognition_ros client

And that should display the received message.

For testing, you can even run the server with a test pipeline:

rosrun object_recognition_server server -c `rospack find object_recognition_ros`/conf/detection.test.ros.ork

Service

There is a service to get object information: just query it and it will retrieve anything that is known about the object. Its definition is as follows:

# Retrieve extra data from the DB for a given object

# The type of the object to retrieve info from
object_recognition_msgs/ObjectType type

---

# Extra object info 
object_recognition_msgs/ObjectInformation information