Add always_publish arg

jsk-ros-pkg · Jun 26, 2023 · d850123 · d850123
1 parent d2c8a34
commit d850123
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diff --git a/python/coral_usb/detector_base.py b/python/coral_usb/detector_base.py
@@ -140,6 +140,8 @@ def image_cb(self, msg):
                 self.labels = labels
                 self.scores = scores
 
+        if not self.always_publish and len(cls_msg.labels) <= 0:
+            return
         self.pub_rects.publish(rect_msg)
         self.pub_class.publish(cls_msg)
 

diff --git a/python/coral_usb/node_base.py b/python/coral_usb/node_base.py
@@ -124,6 +124,11 @@ def __init__(self, model_file=None, label_file=None, namespace='~'):
             self.timer = rospy.Timer(
                 rospy.Duration(self.duration), self.visualize_cb)
 
+        self.always_publish = rospy.get_param("~always_publish", True)
+        rospy.loginfo(
+            "Publish even if object/human_pose is not found : {}".format(
+                self.always_publish))
+
     def subscribe(self):
         if self.transport_hint == 'compressed':
             self.sub_image = rospy.Subscriber(