Skip to content

Add reset request subscription to selector node #83

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Add reset request subscription to selector node #83

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
a521e64
Add reset request subscription
TomaszTB Oct 10, 2025
72c08f2
Supress unused parameter warning
TomaszTB Oct 10, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions isaac_ros_foundationpose/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@

<depend>message_filters</depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>vision_msgs</depend>
<depend>assimp</depend>
Expand Down
19 changes: 17 additions & 2 deletions isaac_ros_foundationpose/src/foundationpose_selector_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <rclcpp/time.hpp>
#include <std_msgs/msg/empty.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/camera_info.hpp>

Expand Down Expand Up @@ -107,13 +108,18 @@ class Selector : public rclcpp::Node
this->create_subscription<isaac_ros_tensor_list_interfaces::msg::TensorList>(
"pose_estimation/pose_matrix_output", 1, std::bind(&Selector::poseResetCallback, this, _1));

// Create subscriber for reset requests
reset_request_sub_ =
this->create_subscription<std_msgs::msg::Empty>(
"reset", 1, std::bind(&Selector::resetRequestCallback, this, _1));

// reset period in ms after which pose estimation will be triggered
this->declare_parameter<int>("reset_period", 20000);
this->get_parameter("reset_period", reset_period_);

timer_ = this->create_wall_timer(
std::chrono::milliseconds(reset_period_),
std::bind(&Selector::timerCallback, this));
std::bind(&Selector::resetCallback, this));
}

void selectionCallback(
Expand Down Expand Up @@ -159,7 +165,14 @@ class Selector : public rclcpp::Node
state_ = kTracking;
}

void timerCallback()
void resetRequestCallback(const std_msgs::msg::Empty::ConstSharedPtr & request_msg)
{
(void) request_msg; // Supress unused parameter warning

resetCallback();
}

void resetCallback()
{
std::unique_lock<std::mutex> lock(mutex_);
state_ = State::kPoseEstimation;
Expand Down Expand Up @@ -198,6 +211,8 @@ class Selector : public rclcpp::Node
rclcpp::Subscription<isaac_ros_tensor_list_interfaces::msg::TensorList>::SharedPtr
pose_estimation_output_sub_;

rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr reset_request_sub_;

enum State
{
kTracking,
Expand Down