plane_detection_action_server

#!/usr/bin/env python
from importlib import import_module

import rospy
from mas_perception_libs.scene_detection_action import PlaneDetectionActionServer


if __name__ == '__main__':
    rospy.init_node('~plane_detection_action_server')

    # get action server name
    action_name = rospy.get_param('~action_name', None)
    if not action_name:
        raise ValueError('param "action_name" not specified')

    # get cloud topic
    cloud_topic = rospy.get_param('~cloud_topic', None)
    if not cloud_topic:
        raise ValueError('param "cloud_topic" not specified')

    # get action server name
    target_frame = rospy.get_param('~target_frame', '/base_link')

    # get parameters for detector class
    class_annotation_file = rospy.get_param('~class_annotations', None)
    kwargs_file = rospy.get_param('~kwargs_file', None)

    # import detection class
    detect_module = rospy.get_param('~detection_module', 'mas_perception_libs')
    detect_class_name = rospy.get_param('~detection_class', 'ImageDetectorTest')
    detection_class = getattr(import_module(detect_module), detect_class_name)

    # create service
    PlaneDetectionActionServer(action_name, detection_class=detection_class, cloud_topic=cloud_topic,
                               target_frame=target_frame, class_annotation_file=class_annotation_file,
                               kwargs_file=kwargs_file)

    rospy.spin()