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GPSR: reasoning instead of plan #55

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Merged
igonzf merged 2 commits into from
Apr 24, 2026
Merged

GPSR: reasoning instead of plan #55

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28c42dc
Count people empty ports
agonzc34 Apr 23, 2026
49bedd3
Better speak for gpsr interaction
agonzc34 Apr 23, 2026
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4 changes: 2 additions & 2 deletions bt_nodes/perception/src/perception/count_people.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,7 @@ BT::NodeStatus CountPeople::tick()
}

// gesture filtering
if (gesture_ != "unknown" && !removed) {
if (gesture_ != "unknown" && !gesture_.empty() && !removed) {
RCLCPP_INFO(node_->get_logger(), "[CountPeople] Count by gesture");
if (std::find(
gestures_[gesture_].begin(), gestures_[gesture_].end(),
Expand All @@ -159,7 +159,7 @@ BT::NodeStatus CountPeople::tick()
}

// pose filtering
if (pose_ != "unknown" && !removed) {
if (pose_ != "unknown" && !pose_.empty() && !removed) {
RCLCPP_INFO(node_->get_logger(), "[CountPeople] Count by pose");
if (pose_names_[detection.body_pose] == pose_) {
RCLCPP_DEBUG(
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4 changes: 2 additions & 2 deletions robocup_bringup/bt_xml/gpsr.xml
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Expand Up @@ -32,8 +32,8 @@
<Action ID="StartMusic" audio="elevator" loop="true" />
<Action ID="CommandPlanning" command="{command}" actions="{action_list}" bt_value="{bt_xml}"/>
<Action ID="StopMusic" />
<Action ID="Speak" say_text="Then I have to do the following actions " param="{action_list}"/>
<Action ID="Speak" say_text="This is correct?" param=""/>
<Action ID="Speak" say_text="Here it is the reasoning for the next actions: " param="{action_list}"/>
<Action ID="Speak" say_text="Is this correct?" param=""/>
<Action ID="DialogConfirmation"/>
</Sequence>
</RetryUntilSuccessful>
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