1

vision_detect/vision_detect/service_client.py

@@ -23,13 +23,16 @@ class Client(Node):
     def _result_callback(self, result):
         response = result.result()
         if response.success:
-            pose_dict = {}
+            pose_list = []
             for obj in response.objects:
-                pose_dict[obj.class_name] = {
-                    "class_id": obj.class_id,
-                    "pose_list": obj.pose_list,
-                }
-            self.get_logger().info(f"{pose_dict}")
+                pose_list.append(
+                    {
+                        "class_id": obj.class_id,
+                        "class_name": obj.class_name,
+                        "pose": obj.pose
+                    }
+                )
+            self.get_logger().info(f"{pose_list}")
         else:
             self.get_logger().error(f"{response.info}")
 

vision_detect/vision_detect/sub_pose.py

@@ -10,14 +10,17 @@ class SubPose(Node):
         self.sub = self.create_subscription(PoseArrayClassAndID, '/pose/cv_detect_pose', self.pose_callback, 10)
 
     def pose_callback(self, msg):
-        pose_dict = {}
+        pose_list = []
         for object in msg.objects:
-            pose_dict[object.class_id] = {
-                'name' : object.class_name,
-                'pose_list' : object.pose_list,
-            }
+            pose_list.append(
+                {
+                    "class_id": object.class_id,
+                    "class_name": object.class_name,
+                    "pose": object.pose
+                }
+            )
 
-        self.get_logger().info(f'{pose_dict}')
+        self.get_logger().info(f'{pose_list}')
 
 
 def main(args=None):