robokudo.annotators.query¶

Query handling annotator for RoboKudo.

This module provides an annotator that handles queries from external ROS nodes. It supports:

Spawning an action server for query handling
Type-agnostic query processing
Asynchronous query response
Integration with ROS action system
CAS annotation with query data

The module is used for:

External system integration
Query-based perception
Interactive perception tasks
Asynchronous data exchange

Classes¶

`QueryAnnotator`	Handle external queries through ROS action server.
`QueryFeedback`	A test class which simply generates a fixed-string feedback.
`QueryFeedbackAndCount`	A test class which simply counts up until a fixed number.
`QueryReply`	A test class which simply generates an empty Query Answer to check
`GenerateQueryResult`	This class reads in the annotations done by the previous Annotators
`QueryActionServer`	ROS action server for handling perception queries.

Module Contents¶

class robokudo.annotators.query.QueryAnnotator(name='QueryAnnotator')¶

Bases: robokudo.annotators.core.BaseAnnotator

Handle external queries through ROS action server.

This Annotator spawns an Action Server that listens for Queries from external ROS nodes. It will then annotate the CAS and put the Query into CASViews.QUERY. The Annotator and the Actionserver are type-agnostic, which means that you are not bound to a specific type of query. You can pass these from your AE to this QueryAnnotator.

Variables:

feedback_instance – Feedback message template
result_instance – Result message template
action_server – server for action request handling

feedback_instance¶

result_instance¶

action_server = None¶

setup(timeout=None, node=None, visitor=None)¶: Ensure that the Query Server is spawned early on, directly after PPT creation.

initialise()¶

Initialize query handling.

Sets up the action server if not already initialized. Stores server instance on blackboard for access by other nodes.

Returns:: None

update()¶

Process new queries and update CAS.

Checks for new queries from action server and updates CAS if found. Provides feedback about query status.

Returns:: SUCCESS if query processed, RUNNING if waiting
Return type:: py_trees.Status

class robokudo.annotators.query.QueryFeedback(name='QueryFeedback', feedback_str='')¶

Bases: robokudo.annotators.core.BaseAnnotator

A test class which simply generates a fixed-string feedback.

feedback_str = ''¶

update()¶

Update the annotator state.

Called every time the behavior is ticked.

Returns:: Status of the behavior after update
Return type:: py_trees.common.Status

class robokudo.annotators.query.QueryFeedbackAndCount(name='QueryFeedback', count_until=20, return_code=py_trees.common.Status.RUNNING)¶

Bases: robokudo.annotators.core.BaseAnnotator

A test class which simply counts up until a fixed number. Until this number is reached, a pre-defined status is returned.

i = 0¶

count_until = 20¶

return_code¶

update()¶

Update the annotator state.

Called every time the behavior is ticked.

Returns:: Status of the behavior after update
Return type:: py_trees.common.Status

class robokudo.annotators.query.QueryReply(name='QueryReply')¶

Bases: robokudo.annotators.core.BaseAnnotator

A test class which simply generates an empty Query Answer to check if the Action server can reply properly. Create a single, empty Object Designator that will be sent to the caller.

initialise()¶

Initialize reply generator.

Returns:: None

update() → py_trees.common.Status¶

Generate test query response.

Creates an empty ObjectDesignator with a test pose and adds it to blackboard.

Returns:: SUCCESS after generating response
Return type:: py_trees.Status

class robokudo.annotators.query.GenerateQueryResult(name='GenerateQueryResult')¶

Bases: robokudo.annotators.core.BaseAnnotator

This class reads in the annotations done by the previous Annotators and generates Object Designators from them. These will be placed into the Blackboard so that a running Query Action Server can pick the information up and send it as a query reply.

rk_logger = None¶

color_converter¶

class_converter¶

position_converter¶

stamped_position_converter¶

pose_converter¶

stamped_pose_converter¶

shape_converter¶

cuboid_converter¶

sphere_converter¶

location_converter¶

bb_size_converter¶

type_converter¶

update()¶

Generate query result from current CAS annotations.

For each ObjectHypothesis in CAS: * Creates ObjectDesignator * Adds color information if available * Adds classification if available * Adds pose information if available * Packages into query result

Returns:: SUCCESS after generating result
Return type:: py_trees.Status

class robokudo.annotators.query.QueryActionServer(name, feedback_instance=Query.Feedback(), result_instance=Query.Result(), action_type=Query)¶

Bases: rclpy.node.Node

ROS action server for handling perception queries.

Action server that listens for queries and executes them by checking blackboard for results generated by QueryAnnotator and QueryReply.

Variables:

_action_name – Name of ROS action
_as – Action server instance
new_query – Latest received query
query – Currently processing query

_action_name¶

_as¶

feedback_instance¶

result_instance¶

new_query = None¶

query = None¶

query_processed_event¶

logger = None¶

reset_bookkeeping_vars()¶

Reset internal state variables.

Clears query state and blackboard variables.

Returns:: None

goal_cb(goal_request)¶

cancel_cb(goal_handle)¶

start_processing()¶

Start processing new query.

Tell the ActionServer that we are now starting the execution and it can start the monitoring/response process.

Returns:: None

is_active()¶

Check if query is being processed.

Returns:: True if query active, False otherwise
Return type:: bool

async execute_cb(goal_handle)¶

Action server execution callback.

Handles: * Query reception and validation * Processing status monitoring * Preemption requests * Error handling * Result generation and sending

Parameters:: goal_handle – Query goal from client
Returns:: None