From 1cbf8f200d4e77f5619f178346c3a8ce4ebb23df Mon Sep 17 00:00:00 2001 From: Roberto Carta Date: Wed, 5 Feb 2025 17:04:06 +0100 Subject: [PATCH 1/2] Add default [0,0,0] PTZ joints values when saving a POI --- poi_manager/src/poi_manager/poi_marker.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/poi_manager/src/poi_manager/poi_marker.py b/poi_manager/src/poi_manager/poi_marker.py index f96e78e..be122b5 100755 --- a/poi_manager/src/poi_manager/poi_marker.py +++ b/poi_manager/src/poi_manager/poi_marker.py @@ -540,7 +540,18 @@ def createNewPOI(self, feedback): rospy.loginfo("%s::createNewPOI: %s, environment: %s" ,self.node_name, self.add_poi_service_name, self.robot_environment) - success,msg=self.save_poi_service(new_point.name,new_point.header.frame_id,new_point.pose) + #fill new dictionary with the camera joint states taken from the joint_states_dict + poi_joint_dict = {} + for i in self.joint_states_dict: + if "camera" in i: + if "zoom" in i: + poi_joint_dict[i] = 1.0 + else: + poi_joint_dict[i] = 0.0 + + + success,msg=self.save_poi_service(new_point.name, new_point.header.frame_id, new_point.pose, poi_joint_dict) + if success == False: rospy.logerr('%s::createNewPOI: Error calling save_poi_service -> %s', rospy.get_name(), msg) From fa7d3f048bb19562858808dee5b9cf1f4a8bfe59 Mon Sep 17 00:00:00 2001 From: rcartarobotnik Date: Tue, 11 Feb 2025 13:05:02 +0100 Subject: [PATCH 2/2] Add all robot's joints to the POI, not only camera's ones --- poi_manager/src/poi_manager/poi_marker.py | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/poi_manager/src/poi_manager/poi_marker.py b/poi_manager/src/poi_manager/poi_marker.py index be122b5..5d3610c 100755 --- a/poi_manager/src/poi_manager/poi_marker.py +++ b/poi_manager/src/poi_manager/poi_marker.py @@ -539,18 +539,9 @@ def createNewPOI(self, feedback): rospy.loginfo("%s::createNewPOI: %s, environment: %s" ,self.node_name, self.add_poi_service_name, self.robot_environment) - - #fill new dictionary with the camera joint states taken from the joint_states_dict - poi_joint_dict = {} - for i in self.joint_states_dict: - if "camera" in i: - if "zoom" in i: - poi_joint_dict[i] = 1.0 - else: - poi_joint_dict[i] = 0.0 - success,msg=self.save_poi_service(new_point.name, new_point.header.frame_id, new_point.pose, poi_joint_dict) + success,msg=self.save_poi_service(new_point.name, new_point.header.frame_id, new_point.pose, self.joint_states_dict) if success == False: rospy.logerr('%s::createNewPOI: Error calling save_poi_service -> %s', rospy.get_name(), msg)