refactor: make QueryImage a ServiceState.

skills/src/lasr_skills/__init__.py

@@ -14,3 +14,4 @@
 from .receive_object import ReceiveObject
 from .handover_object import HandoverObject
 from .ask_and_listen import AskAndListen
+from .clip_vqa import QueryImage

skills/src/lasr_skills/clip_vqa.py

@@ -1,15 +1,24 @@
 import smach_ros
-from lasr_vision_clip.srv import Vqa
+from lasr_vision_msgs.srv import Vqa, VqaRequest
+
+from typing import List, Union
 
 
 class QueryImage(smach_ros.ServiceState):
 
-    def __init__(
-        self,
-    ):
-        super(smach_ros.ServiceState, self).__init__(
-            "/clip_vqa/query_service",
-            Vqa,
-            request_slots=["answers"],
-            response_slots=["answer", "similarity_score"],
-        )
+    def __init__(self, possible_answers: Union[None, List[str]] = None):
+
+        if possible_answers is not None:
+            super(QueryImage, self).__init__(
+                "/clip_vqa/query_service",
+                Vqa,
+                request=VqaRequest(possible_answers=possible_answers),
+                response_slots=["answer", "similarity"],
+            )
+        else:
+            super(QueryImage, self).__init__(
+                "/clip_vqa/query_service",
+                Vqa,
+                request_slots=["possible_answers"],
+                response_slots=["answer", "similarity"],
+            )