Merge branch 'perception-indigo-fixes' into 'indigo'

Perception indigo fixes

* removed c++11 compilation. This was causing tabletop_cloud_accumulator and clusterer to crash on launch. Probably caused because PCL wasn't complied with c++11 [github issue](PointCloudLibrary/pcl#619)
* removed unused code (plane extraction, polyclipping)
* fixed warnings about specifying queue_size in publishers
* use cPickle instead of joblib to pickle the svm classifier. So there's no need to install an old version of sklearn/joblib

There is a problem with the ProjectInliers nodelet that still needs to be looked into (#19). Otherwise, the perception pipeline is compiling, launching and running ok under indigo.

See merge request !170

mcr_object_detection/CMakeLists.txt

@@ -3,6 +3,7 @@ project(mcr_object_detection)
 
 find_package(catkin REQUIRED
   COMPONENTS
+    roslint
     mcr_scene_segmentation
 )
 
@@ -18,6 +19,8 @@ catkin_package(
     tf
 )
 
+roslint_python()
+
 ### TESTS
 if(CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)

mcr_object_detection/package.xml

@@ -21,6 +21,7 @@
   <run_depend>tf</run_depend>
 
   <build_depend>mcr_scene_segmentation</build_depend>
+  <build_depend>roslint</build_depend>
 
   <test_depend>roslaunch</test_depend>
 

mcr_object_detection/ros/scripts/object_detector

@@ -238,8 +238,8 @@ if __name__ == '__main__':
             else:
                 event_out_pub.publish("e_failed")
 
-    object_list_pub = rospy.Publisher('~object_list', ObjectList)
+    object_list_pub = rospy.Publisher('~object_list', ObjectList, queue_size=1)
     event_in_sub = rospy.Subscriber('~event_in', std_msgs.msg.String, event_in_cb)
-    event_out_pub = rospy.Publisher('~event_out', std_msgs.msg.String)
+    event_out_pub = rospy.Publisher('~event_out', std_msgs.msg.String, queue_size=1)
     rospy.loginfo('Started [detect_objects] node.')
     rospy.spin()

mcr_object_detection/ros/src/mcr_object_detection/service_states.py

@@ -1,9 +1,6 @@
 #!/usr/bin/env python
 
-PACKAGE = 'mcr_object_detection'
-
 import roslib
-roslib.load_manifest(PACKAGE)
 import rospy
 
 from smach import cb_interface, State

mcr_object_detection/ros/src/mcr_object_detection/topic_states.py

@@ -1,40 +1,39 @@
 #!/usr/bin/env python
 
-PACKAGE = 'mcr_object_detection'
-
 import roslib
-roslib.load_manifest(PACKAGE)
-
 import rospy
 
 import smach
 import std_msgs.msg
 import mcr_perception_msgs.msg
 
+
 class FindWorkspace(smach.State):
     def __init__(self):
         smach.State.__init__(self,
-                        output_keys=['polygon'],
-                        outcomes=['succeeded', 'aborted'])
+                             output_keys=['polygon'],
+                             outcomes=['succeeded', 'aborted'])
         self.event_pub = rospy.Publisher('/mcr_perception/workspace_finder/event_in', std_msgs.msg.String, queue_size=1)
-        self.event_sub = rospy.Subscriber('/mcr_perception/workspace_finder/event_out', std_msgs.msg.String, self.e_callback)
-        self.polygon_sub = rospy.Subscriber('/mcr_perception/workspace_finder/polygon', mcr_perception_msgs.msg.PlanarPolygon, self.poly_callback)
+        self.event_sub = rospy.Subscriber('/mcr_perception/workspace_finder/event_out',
+                                          std_msgs.msg.String, self.e_callback)
+        self.polygon_sub = rospy.Subscriber('/mcr_perception/workspace_finder/polygon',
+                                            mcr_perception_msgs.msg.PlanarPolygon, self.poly_callback)
 
     def e_callback(self, event):
         self.polygon_event = event.data
 
     def poly_callback(self, data):
         self.polygon = data
-        
+
     def execute(self, userdata):
         self.polygon_event = ""
         self.polygon = None
 
         self.event_pub.publish("e_trigger")
 
-        timeout = rospy.Duration.from_sec(10.0) # wait max of 10.0 seconds
+        timeout = rospy.Duration.from_sec(10.0)  # wait max of 10.0 seconds
         start_time = rospy.Time.now()
-        
+
         while (True):
             if self.polygon_event == "e_done" and self.polygon is not None:
                 userdata.polygon = self.polygon
@@ -48,17 +47,17 @@ def execute(self, userdata):
                 return 'aborted'
 
             rospy.sleep(0.01)
-            
+
         return 'succeeded'
 
 
 class PointCloudSubscription(smach.State):
     def __init__(self, subscribe=False, cloud_topic=None):
         smach.State.__init__(self,
-                       outcomes=['done'])
+                             outcomes=['done'])
         self.subscribe = subscribe
         self.cloud_topic = cloud_topic
-        self.mux_topic_pub = rospy.Publisher('/mcr_perception/mux_pointcloud/select', std_msgs.msg.String)
+        self.mux_topic_pub = rospy.Publisher('/mcr_perception/mux_pointcloud/select', std_msgs.msg.String, queue_size=1)
 
     def execute(self, ud):
         if self.subscribe:

mcr_object_recognition_mean_circle/CMakeLists.txt

@@ -7,8 +7,9 @@ find_package(catkin REQUIRED
   COMPONENTS
     mcr_scene_segmentation
     mcr_perception_msgs
-    roscpp
     pcl_ros
+    roscpp
+    roslint
 )
 
 catkin_python_setup()
@@ -41,6 +42,9 @@ include_directories(
 )
 
 
+roslint_python()
+roslint_cpp()
+
 ### TESTS
 if(CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)

mcr_object_recognition_mean_circle/README.md

@@ -1,5 +1 @@
-The current model is trained with sklearn version 0.15.2. The trained model is NOT compatible with higher versions.
-
-You can install version 0.15.2 with the following command:
-
-    sudo pip install scikit-learn==0.15.2
+The current model is trained with sklearn version 0.14.1.