[detectaction] Robokudo real robot

[sunava]

DetectAction Overview

The DetectAction now returns a list of all detected objects. It supports various detection techniques:

• ALL: 0
• HUMAN: 1
• TYPES: 2
• REGION: 3
• HUMAN_ATTRIBUTES: 4
• HUMAN_WAVING: 5

Real Environment Behavior

Objects perceived in the real world are dynamically spawned into the environment.

Simulation Behavior

• The get_scene_objects method serves as a mockup for the ALL detection type.
• Detection types like HUMAN and HUMAN_ATTRIBUTES are not supported in the simulation.

Important Note

In the real Robokudo system, filtering for specific objects is not supported by default. While the detection pipeline is correct, if you are using it in a real environment, you must manually filter the objects in your demo.

State Management

• The state parameter manages continuous perception.
• Default state: start.
• The perception can be stopped by setting state=stop.

---

To-Do

@Tigul: Implement knowledge condition.

# Example:
# self.knowledge_condition = VisibleProperty(self.object_designator_description)