Polishing

ihmcrobotics · Nov 14, 2024 · 79a1355 · 79a1355
1 parent 1e1b450
commit 79a1355
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Showing 8 changed files with 8 additions and 16 deletions.
diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java b/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java
@@ -108,7 +108,7 @@ public final class PerceptionAPI
                                                                                   .withType(BigVideoPacket.class)
                                                                                   .withSuffix("debug_extraction");
    public static final ROS2Topic<Empty> REQUEST_REALSENSE = PERCEPTION_MODULE.withSuffix("request_realsense").withType(Empty.class);
-   public static final ROS2Topic<Empty> REQUEST_REALSENSE_POINT_CLOUD = PERCEPTION_MODULE.withSuffix("request_realsense_point_cloud").withType(Empty.class);
+   public static final ROS2Topic<Empty> REQUEST_REALSENSE_PUBLICATION = PERCEPTION_MODULE.withSuffix("request_realsense_publication").withType(Empty.class);
    public static final SideDependentList<ROS2Topic<BigVideoPacket>> BLACKFLY_VIDEO = new SideDependentList<>(BEST_EFFORT.withModule(BLACKFLY_NAME + "left")
                                                                                                                         .withType(BigVideoPacket.class)
                                                                                                                         .withSuffix("video"),

diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/IterativeClosestPointManager.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/IterativeClosestPointManager.java
@@ -92,7 +92,7 @@ else if (!requestMessage.getRunIcp())           // ICP Worker no longer needed (
          }
       });
 
-      workerThread = new RepeatingTaskThread(this::runWorkers, "ICPWorkers").setFrequencyLimit(ICP_WORK_FREQUENCY);
+      workerThread = new RepeatingTaskThread("ICPWorkers", this::runWorkers).setFrequencyLimit(ICP_WORK_FREQUENCY);
    }
 
    /**

diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/StandAloneRealsenseProcess.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/StandAloneRealsenseProcess.java
@@ -62,7 +62,7 @@ public StandAloneRealsenseProcess(ROS2Helper ros2Helper, ROS2SyncedRobotModel sy
             soleFrameSuppliers.put(side, () -> syncedRobot.getReferenceFrames().getSoleFrame(side));
          }
       }
-      realsenseDemandNode = new ROS2DemandGraphNode(ros2Helper, PerceptionAPI.REQUEST_REALSENSE_POINT_CLOUD);
+      realsenseDemandNode = new ROS2DemandGraphNode(ros2Helper, PerceptionAPI.REQUEST_REALSENSE_PUBLICATION);
 
       realsenseImageRetriever = new RealsenseColorDepthImageRetriever(new RealsenseDeviceManager(),
                                                                       RealsenseConfiguration.D455_COLOR_720P_DEPTH_720P_30HZ,

diff --git a/ihmc-java-toolkit/src/main/java/us/ihmc/tools/thread/RestartableThread.java b/ihmc-java-toolkit/src/main/java/us/ihmc/tools/thread/RestartableThread.java
@@ -90,15 +90,9 @@ public void blockingStop()
          ExceptionTools.handle((RunnableThatThrows) thread::join, exceptionHandler);
    }
 
-   public void interrupt()
-   {
-      if (thread != null)
-         thread.interrupt();
-   }
-
    public boolean isRunning()
    {
-      return running.get();
+      return running.getPlain();
    }
 
    boolean isAlive()

diff --git a/...-perception/src/main/java/us/ihmc/perception/detections/yolo/YOLOv8DetectionExecutor.java b/...-perception/src/main/java/us/ihmc/perception/detections/yolo/YOLOv8DetectionExecutor.java
@@ -137,7 +137,7 @@ public void runYOLODetectionOnAllModels(RawImage colorImage, RawImage depthImage
 
    /**
     * Non-blocking call to run YOLO on the provided images
-    * @param colorImage RGB color image, used for YOLO detection
+    * @param colorImage BGR color image, used for YOLO detection
     * @param depthImage 16UC1 depth image, used to get points of detected objects
     */
    public void runYOLODetection(YOLOv8ObjectDetector yoloDetector, RawImage colorImage, RawImage depthImage)

diff --git a/...rception/src/main/java/us/ihmc/perception/sceneGraph/ros2/ROS2SceneGraphUpdateThread.java b/...rception/src/main/java/us/ihmc/perception/sceneGraph/ros2/ROS2SceneGraphUpdateThread.java
@@ -79,7 +79,5 @@ protected void runTask()
       ReferenceFrame pelvisFrame = robotPelvisFrameSupplier.get();
       sceneGraph.updateOnRobotOnly(pelvisFrame);
       sceneGraph.updatePublication();
-
-      // TODO: add behavior tree?
    }
 }
diff --git a/ihmc-perception/src/main/java/us/ihmc/sensors/ImageSensor.java b/ihmc-perception/src/main/java/us/ihmc/sensors/ImageSensor.java
@@ -22,7 +22,7 @@ public abstract class ImageSensor implements AutoCloseable
    public ImageSensor(String sensorName)
    {
       this.sensorName = sensorName;
-      grabThread = new RepeatingTaskThread(this::grabAndNotify, sensorName + "Grabber");
+      grabThread = new RepeatingTaskThread(sensorName + "Grabber", this::grabAndNotify);
    }
 
    /**

diff --git a/ihmc-perception/src/main/java/us/ihmc/sensors/ZEDSVOPlaybackSensor.java b/ihmc-perception/src/main/java/us/ihmc/sensors/ZEDSVOPlaybackSensor.java
@@ -39,15 +39,15 @@ public ZEDSVOPlaybackSensor(ROS2PublishSubscribeAPI ros2, int cameraID, ZEDModel
       // Subscribe to play message
       ros2.subscribeViaCallback(PerceptionAPI.ZED_SVO_PLAY, () -> getGrabThread().startRepeating());
 
-      publishInfoThread = new RepeatingTaskThread(() ->
+      publishInfoThread = new RepeatingTaskThread("PublishSVOInfoThread", () ->
       {
          svoStatusMessage.setCurrentFileName(svoFileName);
          svoStatusMessage.setRecordMode((byte) 1); // playback
          svoStatusMessage.setCurrentPosition(getCurrentPosition());
          svoStatusMessage.setLength(getLength());
 
          ros2.publish(PerceptionAPI.ZED_SVO_CURRENT_FILE, svoStatusMessage);
-      }, "PublishSVOInfoThread").setFrequencyLimit(ZEDImageSensor.CAMERA_FPS);
+      }).setFrequencyLimit(ZEDImageSensor.CAMERA_FPS);
       publishInfoThread.start();
    }
-Original file line number
+Diff line change
@@ Expand Up @@
              }
           });
-          workerThread = new RepeatingTaskThread(this::runWorkers, "ICPWorkers").setFrequencyLimit(ICP_WORK_FREQUENCY);
+          workerThread = new RepeatingTaskThread("ICPWorkers", this::runWorkers).setFrequencyLimit(ICP_WORK_FREQUENCY);
        }
        /**
@@ Expand Down @@