Merge pull request #112 from cpaxton/fix-travis-srv

Fix travis srv

Author: cpaxton

costar_instructor/instructor_plugins/src/instructor_plugins/instructor_publish_message.py

@@ -17,7 +17,8 @@
 import tf_conversions as tf_c
 # Driver services for ur5
 #from robotiq_c_model_control.srv import *
-from std_srvs.srv import Empty
+# from std_srvs.srv import Empty
+import os
 
 colors = ColorOptions().colors
 # Node Wrappers -----------------------------------------------------------
@@ -28,7 +29,14 @@ def __init__(self):
         self.title.setStyleSheet('background-color:'+colors['purple'].normal+';color:#ffffff')
         self.wait_finish = NamedField('Wait', '','purple')
         self.wait_finish.set_field('1')
-        self.note = NoteField('(1 = true, 0 = false)','purple')
+
+        self.message_contents = NamedField('message','', 'purple')
+        self.message_topic = NamedField('Rostopic','', 'purple')
+        self.message_topic.set_field('info')
+
+        self.note = NoteField('(1 = true, 0 = false)\nrostopic has prefix: /costar/messages/','purple')
+        self.layout_.addWidget(self.message_contents)
+        self.layout_.addWidget(self.message_topic)
         self.layout_.addWidget(self.wait_finish)
         self.layout_.addWidget(self.note)
 
@@ -38,18 +46,22 @@ def load_data(self,data):
         pass
     def generate(self):
         if all([self.name.full(),self.wait_finish.full()]):
-            return NodeActionPublishMessage(self.get_name(),self.get_label(),int(self.wait_finish.get()))
+            full_topic_name = os.path.join('/costar/messages/',str(self.message_topic.get()))
+            return NodeActionPublishMessage(self.get_name(),str(self.message_contents.get()), full_topic_name, int(self.wait_finish.get()))
         else:
             rospy.logerr('check that all menu items are properly selected for this node')
             return 'ERROR: check that all menu items are properly selected for this node'
 
 # Nodes -------------------------------------------------------------------
 class NodeActionPublishMessage(ServiceNode):
-    def __init__(self,name,label,wait_finish):
-        L = "Publish Message: " + label
+    def __init__(self,name,message_contents,topic_name,wait_finish):
+        L = "Publish Message: " + message_contents + "\nto " + topic_name 
         super(NodeActionPublishMessage,self).__init__(name,L,colors['purple'].normal,"Message Server")
-        self.message_pub = rospy.Publisher('/instructor/message_server', String,queue_size=100)
-        self.message_to_publish = label
+        # if topic_name == '':
+        #     self.message_pub = rospy.Publisher('/instructor/message_server', String,queue_size=100)
+        # else:
+        self.message_pub = rospy.Publisher(topic_name, String,queue_size=100)
+        self.message_to_publish = message_contents
         if wait_finish == 0:
             self.wait_finish = False
         else:

costar_perception/sequential_scene_parsing/src/ros_sequential_scene_parsing.cpp

@@ -381,6 +381,7 @@ void RosSceneHypothesisAssessor::processDetectedObjectMsgs()
 		this->scene_graph_pub.publish(this->generateSceneGraphMsgs());
 		std_msgs::Empty done_msg;
 		this->done_message_pub.publish(done_msg);
+		std::cerr << "Published done message.\n";
 	}
 
 	this->mtx_.unlock();
@@ -463,6 +464,7 @@ void RosSceneHypothesisAssessor::processHypotheses()
 
 	std_msgs::Empty done_msg;
 	this->done_message_pub.publish(done_msg);
+	std::cerr << "Published done message.\n";
 
 	this->scene_graph_pub.publish(this->generateSceneGraphMsgs());
 

costar_tools/moveit_collision_environment/CMakeLists.txt

@@ -155,6 +155,7 @@ target_link_libraries(planning_scene_generator collision_env ${catkin_LIBRARIES}
 
 ## Declare a C++ executable
 add_executable(moveit_collision_environment src/main_collision_env.cpp)
+add_dependencies(moveit_collision_environment moveit_collision_environment_generate_messages_cpp)
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above