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Executing the asr_state_machine in the indirect search mode.
Description: Executes the indirect search of the asr_state_machine as standalone or as part of the object search.Tutorial Level: BEGINNER
Contents
Description
Executes the indirect search of the asr_state_machine as 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
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)
bin_size: If the scene is distributed over a large area it is recommended to choose a higher value, to handle errors in position
maxProjectionAngleDeviation: If the scene is distributed over a large area it is recommended to choose a higher value, to handle errors in orientation
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: 2 for indirect search
UseFakeMoveBase: true if simulated to save time and no error of navigation
Start the asr_state_machine and the other components like described in the asr_resources_for_active_scene_recognition.
Place the robot in front of some objects.
Adjust the PTU under the tmux window of ptu_mock, so that it contains the objects.
Insert the object types of the objects under the tmux window of the asr_state_machine.
