refactor: make QueryImage a ServiceState.

skills/src/lasr_skills/clip_vqa.py

@@ -1,29 +1,15 @@
-import smach
-from smach import UserData
-from typing import Union
-from lasr_skills import Say
-from lasr_vision_clip.srv import VqaRequest, VqaResponse, Vqa
-import rospy
+import smach_ros
+from lasr_vision_clip.srv import Vqa
 
 
-class QueryImage(smach.State):
+class QueryImage(smach_ros.ServiceState):
+
     def __init__(
         self,
-        model_device: str = "cuda",
     ):
-        smach.State.__init__(
-            self,
-            outcomes=["succeeded", "failed"],
-            input_keys=["question", "answers"],
-            output_keys=["answer", "similarity_score"],
+        super(smach_ros.ServiceState, self).__init__(
+            "/clip_vqa/query_service",
+            Vqa,
+            request_slots=["answers"],
+            response_slots=["answer", "similarity_score"],
         )
-        self._service_proxy = rospy.ServiceProxy("/clip_vqa/query_service", Vqa)
-
-    def execute(self, userdata: UserData):
-        answers = userdata.answers
-        request = VqaRequest()
-        request.possible_answers = answers
-        response = self._service_proxy(request)
-        userdata.answer = response.answer
-        userdata.similarity_score = response.similarity
-        return "succeeded"