changed package name to reflect current functionality

config/Pcl.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE = "segmentation"
+PACKAGE = "obj_recognition"
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
@@ -13,4 +13,4 @@ gen.add("axis", int_t, 0, "Select Axis", 2, 0, 2, edit_method=axis_enum)
 gen.add("min", double_t, 0, "min", 0.77, -0.5, 3.0)
 gen.add("max", double_t, 0, "max", 2.0, -0.5, 3.0)
 
-exit(gen.generate(PACKAGE, "segmentation", "Pcl"))
+exit(gen.generate(PACKAGE, "obj_recognition", "Pcl"))

config/controllers.yaml

@@ -1,4 +1,4 @@
-sensor_stick:
+obj_recognition:
     #list of controllers
     joint_state_controller:
       type: joint_state_controller/JointStateController

launch/robot_control.launch

@@ -1,10 +1,10 @@
 <launch>
   <!--Load the joint controllers to param server-->
-  <rosparam file="$(find sensor_stick)/config/controllers.yaml" command="load"/>
+  <rosparam file="$(find obj_recognition)/config/controllers.yaml" command="load"/>
 
   <!--Load controllers-->
   <node name="spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" ns="/sensor_stick" args="joint_state_controller
+    output="screen" ns="/obj_recognition" args="joint_state_controller
     pan_position_controller
     tilt_position_controller"/>
 </launch>

launch/robot_description.launch

@@ -1,7 +1,7 @@
 <launch>
   <!--Load urdf to param server-->
   <arg name="use_tf_static" default="false"/>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find sensor_stick)/urdf/sensor_stick.urdf.xacro'"/>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find obj_recognition)/urdf/obj_recognition.urdf.xacro'"/>
 
   <!--GUI used to send fake joint values-->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
@@ -11,6 +11,6 @@
   <!--Publish robot state to TF-->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
     <param name="use_tf_static" value="$(arg use_tf_static)"/>
-    <remap from="/joint_states" to="/sensor_stick/joint_states" />
+    <remap from="/joint_states" to="/obj_recognition/joint_states" />
   </node>
 </launch>

launch/robot_spawn.launch

@@ -1,11 +1,11 @@
 <launch>
   <!--Include description and control launch files-->
-  <include file="$(find sensor_stick)/launch/robot_description.launch"/>
-  <include file="$(find sensor_stick)/launch/robot_control.launch"/>
+  <include file="$(find obj_recognition)/launch/robot_description.launch"/>
+  <include file="$(find obj_recognition)/launch/robot_control.launch"/>
 
   <!--Launch a gazebo world-->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find sensor_stick)/worlds/pr2_perception.world"/>
+    <arg name="world_name" value="$(find obj_recognition)/worlds/pr2_perception.world"/>
     <arg name="paused" value="false"/>
     <arg name="use_sim_time" value="true"/>
     <arg name="gui" value="true"/>
@@ -15,13 +15,20 @@
 
   <!--spawn a robot in gazebo world-->
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
-  args="-urdf -param robot_description -x 0 -y 1.8 -z 0 -R 0 -P 0 -Y 0 -model sensor_stick"/>
+  args="-urdf -param robot_description -x 0 -y 1.8 -z 0 -R 0 -P 0 -Y 0 -model obj_recognition"/>
 
   <!-- cloud transformer-->
-  <node name="cloud_transformer" pkg="sensor_stick" type="cloud_transformer" respawn="false"/>
+  <node name="cloud_transformer" pkg="obj_recognition" type="cloud_transformer" respawn="false"/>
+
+  <!-- segmentation-->
+  <node name="segmentation" pkg="obj_recognition" type="segmentation" respawn="false"/>
+
+  <!-- feature extractor-->
+  <node name="feature_extractor" pkg="obj_recognition" type="feature_extractor" respawn="false"/>
+
 
   <!-- launch rviz-->
   <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
-    output="screen" args="-d $(find sensor_stick)/config/perception.rviz"/>
+    output="screen" args="-d $(find obj_recognition)/config/perception.rviz"/>
 
 </launch>

src/cloud_transformer.cpp

@@ -31,7 +31,7 @@ class CloudTransformer
   {
     // Define Publishers and Subscribers here
     pcl_sub_ = nh_.subscribe("/camera/depth_registered/points", 1, &CloudTransformer::pclCallback, this);
-    pcl_pub_ = nh_.advertise<sensor_msgs::PointCloud2>("/sensor_stick/point_cloud", 1);
+    pcl_pub_ = nh_.advertise<sensor_msgs::PointCloud2>("/obj_recognition/point_cloud", 1);
 
     buffer_.reset(new sensor_msgs::PointCloud2);
     buffer_->header.frame_id = "world";

src/segmentation.cpp

@@ -35,7 +35,7 @@ class segmentation {
   explicit segmentation(ros::NodeHandle nh) : m_nh(nh)  {
 
     // define the subscriber and publisher
-    m_sub = m_nh.subscribe ("/sensor_stick/point_cloud", 1, &segmentation::cloud_cb, this);
+    m_sub = m_nh.subscribe ("/obj_recognition/point_cloud", 1, &segmentation::cloud_cb, this);
     m_pub = m_nh.advertise<sensor_msgs::PointCloud2> ("pcl_objects", 1);
 
   }