[packee_main] mtc 연동작업

Author: songwonjoon

shopee_ros2/src/packee_main/src/packee_packing_backup.cpp

@@ -20,7 +20,7 @@ using PackingCompleteMsg    = shopee_interfaces::msg::PackeePackingComplete;
 using VerifyPackingComplete = shopee_interfaces::srv::PackeeVisionVerifyPackingComplete;
 using RobotStatusMsg        = shopee_interfaces::msg::PackeeRobotStatus;
 using BppStart              = shopee_interfaces::srv::PackeeVisionBppStart;
-using BppComplete           = shopee_interfaces::srv::PackeeVisionBppComplete;
+using BppComplete           = shopee_interfaces::srv::VisionCheckCartPresence;
 using StartMtc              = shopee_interfaces::srv::PackeeMainStartMtc;
 using ArmPackingComplete    = shopee_interfaces::srv::PackeeArmPackingComplete;
 using SequenceMsg           = shopee_interfaces::msg::Sequence;

shopee_ros2/src/packee_vision/packee_vision/launch/packee_vision.launch.py

@@ -0,0 +1,30 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='packee_vision',
+            executable='check_cart_presence',
+            name='check_cart_presence',
+            output='screen'
+        ),
+        Node(
+            package='packee_vision',
+            executable='detect_products_in_cart1',
+            name='detect_products_in_cart1',
+            output='screen'
+        ),
+        Node(
+            package='packee_vision',
+            executable='detect_products_in_cart2',
+            name='detect_products_in_cart2',
+            output='screen'
+        ),
+        Node(
+            package='packee_vision',
+            executable='verify_packing_complete',
+            name='verify_packing_complete',
+            output='screen'
+        )
+    ])

shopee_ros2/src/shopee_interfaces/srv/PackeeVisionDetectProductsInCart.srv

@@ -3,6 +3,6 @@ int32 order_id
 int32 expected_product_id
 ---
 bool success
-shopee_interfaces/DetectedProduct[] products
-int32 total_detected
+shopee_interfaces/Pose6D current_pose
+shopee_interfaces/Pose6D target_pose
 string message