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Add name cog module #1

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Add name cog module #1

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8d6817c
Name for cognitive module
fmrico Oct 29, 2024
cc1e69d
Linting
fmrico Oct 29, 2024
9a9dc35
Merge branch 'rolling' into add_name_cog_module
fmrico Oct 29, 2024
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4 changes: 2 additions & 2 deletions cs4home_simple_project/CMakeLists.txt
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Expand Up @@ -18,7 +18,7 @@ find_package(yolov8_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(ament_index_cpp REQUIRED)

set (dependencies
set(dependencies
cs4home_core
rclcpp
rclcpp_components
Expand Down Expand Up @@ -64,7 +64,7 @@ target_link_libraries(face_module
face_core
)

target_link_libraries(yolo_module
target_link_libraries(yolo_module
yolo_afferent
yolo_efferent
yolo_core
Expand Down
2 changes: 0 additions & 2 deletions cs4home_simple_project/include/cs4home_simple_project/FaceAfferent.hpp
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Expand Up @@ -41,9 +41,7 @@ class FaceAfferent : public cs4home_core::Afferent
bool configure() override;

private:

std::vector<std::string> input_topic_names_;

};

} // namespace cs4home_simple_project
Expand Down
2 changes: 0 additions & 2 deletions cs4home_simple_project/include/cs4home_simple_project/FaceEfferent.hpp
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Expand Up @@ -43,9 +43,7 @@ class FaceEfferent : public cs4home_core::Efferent
void publish_graph(knowledge_graph_msgs::msg::GraphUpdate::UniquePtr msg);

private:

std::vector<std::string> output_topic_names_;

};

} // namespace cs4home_simple_project
Expand Down
2 changes: 1 addition & 1 deletion cs4home_simple_project/src/FaceModule.cpp
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Expand Up @@ -36,4 +36,4 @@ int main(int argc, char ** argv)
rclcpp::shutdown();

return 0;
}
}
6 changes: 3 additions & 3 deletions cs4home_simple_project/src/YoloModule.cpp
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Expand Up @@ -28,9 +28,9 @@ int main(int argc, char ** argv)

rclcpp::NodeOptions options;
options.arguments(
{"--ros-args", "-r", "__node:=yolo_module", "--params-file", config_file});
{"--ros-args", "--params-file", config_file});

auto node = cs4home_core::CognitiveModule::make_shared(options);
auto node = cs4home_core::CognitiveModule::make_shared("yolo_module", options);

node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
Expand All @@ -40,4 +40,4 @@ int main(int argc, char ** argv)
rclcpp::shutdown();

return 0;
}
}
12 changes: 4 additions & 8 deletions cs4home_simple_project/src/cs4home_simple_project/FaceAfferent.cpp
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Expand Up @@ -34,14 +34,10 @@ bool FaceAfferent::configure()
parent_->get_parameter("face_afferent.topics", input_topic_names_);

// Create the subscription to the input topics
for (const auto & topic_name : input_topic_names_)
{
if(this->create_subscriber(topic_name, "hri_msgs/msg/IdsList"))
{
for (const auto & topic_name : input_topic_names_) {
if(this->create_subscriber(topic_name, "hri_msgs/msg/IdsList")) {
RCLCPP_INFO(parent_->get_logger(), "Subscribed to topic: %s", topic_name.c_str());
}
else
{
} else {
RCLCPP_ERROR(parent_->get_logger(), "Error subscribing to topic: %s", topic_name.c_str());
return false;
}
Expand All @@ -52,4 +48,4 @@ bool FaceAfferent::configure()

CS_REGISTER_COMPONENT(FaceAfferent)

} // namespace cs4home_simple_project
} // namespace cs4home_simple_project