Merge branch 'object_size_msg' into 'main'

Object size msg

See merge request !1

CMakeLists.txt

@@ -6,6 +6,7 @@ find_package(catkin REQUIRED actionlib message_generation std_msgs geometry_msgs
 add_message_files(
   FILES
   ObjectDesignator.msg
+  ShapeSize.msg
 )
 
 add_action_files(DIRECTORY action FILES

action/Query.action

 #goal
+
+# the type of the query, like 'detect', 'track',...
+string type
+
+# a generic string description if the object designators can't represent the requested information. 
+# This could for example be a natural language statement if a specific, non-object centric event is happening in the scene
+string description
+
 ObjectDesignator obj
 ---
 #result
+
+# a generic string description what has been detected in the scene
+string description
+
 ObjectDesignator[] res
 ---
 #feedback

msg/ObjectDesignator.msg

 # Object Description
 
-string uid  				# Object's unique identifier
-string type 				# Object's type
-string[] shape				# Object's possible shapes
-string[] color				# Object's possible colors
-string location				# Object's location
-string size				# Object's size
-geometry_msgs/PoseStamped[] pose	# Object's possible 6D-poses
-string[] poseSource			# Object's possible sources (e.g. camera0)
\ No newline at end of file
+string uid                              # Object's unique identifier
+string type                             # Object's type
+string[] shape                          # Object's possible shapes
+ShapeSize[] shape_size                  # Object's possible sizes like dimensions or radius
+string[] color                          # Object's possible colors
+string location                         # Object's location
+string size                             # Object's size
+geometry_msgs/PoseStamped[] pose        # Object's possible 6D-poses
+string[] pose_source                    # Object's possible sources (e.g. camera0)
+
+# The following fields should only be used, if you can not represent one of your object properties
+# in the previous fields.
+#
+# A generic string list of attributes that describe a certain quality or characteristic
+string[] attribute
+
+# More general form of the attributes field. This field can be used for a more general description of the object itself.
+string[] description
\ No newline at end of file

msg/ShapeSize.msg

+#This message stores several shape sizes. The actual type of shape can be accessed
+# through the object-designator.
+
+geometry_msgs/Vector3 dimensions            #For example box sizes can be stored here
+float32 radius                              #Radius for a circle, sphere, cylinder, etc.
\ No newline at end of file