merge main

src/CMakeLists.txt

@@ -49,6 +49,7 @@ set(action_files
   action/MoveWheel.action
   action/ExecuteBtAction.action
   action/GripperCmd.action
+  action/VisionObjectRecognition.action
 )
 set(srv_files
   srv/VisionObjectRecognition.srv

src/action/VisionObjectRecognition.action

@@ -0,0 +1,15 @@
+# VisionObjectRecognition.action
+# 视觉物体识别Action
+
+string camera_position  # 相机位置标识 ("top": 头部相机; "left": 左臂相机; "right": 右臂相机)
+string[] classes        # 识别物体的类别列表
+
+---
+std_msgs/Header header              # 消息头 (时间戳等)
+string info                         # 识别结果摘要信息
+bool success                        # 识别是否成功（true: 成功; false: 失败）
+interfaces/PoseClassAndID[] objects # 识别到的物体列表
+
+---
+int8 status     # 状态
+string info     # 附加信息

src/srv/VisionObjectRecognition.srv

@@ -2,6 +2,7 @@
 # 视觉物体识别服务
 
 string camera_position  # 相机位置标识 ("top": 头部相机; "left": 左臂相机; "right": 右臂相机)
+string[] classes        # 识别物体的类别列表
 
 ---