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Executing the asr_state_machine in the direct search mode.
Description: Executes the direct search of the asr_state_machine as standalone or as part of the object search.Tutorial Level: BEGINNER
Description
Executes the direct search of the asr_state_machineas standalone or as part of the object search.
Setup
Most of the asr_resources_for_active_scene_recognition
-> rosrun asr_resources_for_active_scene_recognition start_modules_sim.sh
Tutorial
Used with gridMode
Adjust asr_direct_search_manager/launch/direct_search_manager.launch::initializedGridFilePath to asr_state_machine/launch/scene_exploration(_sim).launch::initializedGridFilePath
In asr_direct_search_manager/param/direct_search_manager_settings.yaml
directSearchMode: 1 for grid_manager
Used with recordMode
Adjust asr_direct_search_manager/launch/direct_search_manager.launch::recordFilePath to asr_state_machine/launch/scene_exploration(_sim).launch::!CropBoxRecordingPath
In asr_direct_search_manager/param/direct_search_manager_settings.yaml
directSearchMode: 2 for recording_manager
For Both
In asr_direct_search_manager/param/direct_search_manager_settings.yaml
reorderPosesByNBV: If prior knowledge is available and desired set it to true, otherwise to false
In asr_recognizer_prediction_ism/param/scene_recognition.yaml
dbfilename: Adjust to current database of scenes and corresponding objects (Checkout asr_resources_for_active_scene_recognition for knowing to how scenes are learned and trained)
If simulated: In asr_fake_object_recognition/param/params.yaml
config_file_path: Adjust the path to a XML file containing the poses of the object(s) of the scene(s)
In asr_state_machine/param/params.yaml
mode: 1 for direct search
UseFakeMoveBase: true if simulated to save time and no error of navigation
SearchAllobject: To search only for a subset of objects, set it to true and specify them in !IntermediateObject _XXX.xml
StopAtfirst: To true if the search should be stoped after the first object is found
