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IsDetected empty ports #54

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Merged
igonzf merged 1 commit into from
Apr 23, 2026
Merged

IsDetected empty ports #54

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6 changes: 3 additions & 3 deletions bt_nodes/perception/src/perception/IsDetected.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -198,7 +198,7 @@ BT::NodeStatus IsDetected::tick()

if (detection.score > threshold_ && detection.center3d.position.z < max_depth_) {
// Color filtering
if (color_ != "unknown") {
if (color_ != "unknown" && !color_.empty()) {
auto const detection_id_colors = perception_system::getHSVFromUniqueID(
detection.color_person);
std::string lower_color = "lower_" + color_;
Expand Down Expand Up @@ -237,7 +237,7 @@ BT::NodeStatus IsDetected::tick()
}

// gesture filtering
if (gesture_ != "unknown" && !removed) {
if (gesture_ != "unknown" && !gesture_.empty() && !removed) {
if (std::find(
gestures_[gesture_].begin(), gestures_[gesture_].end(),
detection.pointing_direction) != gestures_[gesture_].end())
Expand All @@ -255,7 +255,7 @@ BT::NodeStatus IsDetected::tick()
}

// pose filtering
if (pose_ != "unknown" && !removed) {
if (pose_ != "unknown" && !pose_.empty() && !removed) {
if (pose_names_[detection.body_pose] == pose_) {
RCLCPP_DEBUG(
node_->get_logger(), "[IsDetected] Detection %s is %s",
Expand Down
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