Add reset request subscription to selector node #83
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Currently when using the FoundationPose selector node, pose estimation can only be reset periodically by a wall timer. I found the need to reset pose estimation programmatically when the tracking fails to track the actual object.
I attempted publishing the required messages directly on the
pose_estimationtopics but that didn't work consistently. Due to a race condition, occasionally pose estimation would run but the tracking would be fed back the last (incorrect) pose that it produced.To enable consistent programmatic resetting, this PR adds a subscription to
Emptymessages on aresettopic that triggers the pose estimation reset when a message is received.