CMakeLists.txt

@@ -17,7 +17,7 @@ add_action_files(DIRECTORY action FILES
 generate_messages(DEPENDENCIES std_msgs actionlib_msgs geometry_msgs sensor_msgs)
 
 catkin_package(
-  CATKIN_DEPENDS message_runtime rospy actionlib
+  CATKIN_DEPENDS message_runtime rospy actionlib geometry_msgs
 )
 
 ## System dependencies are found with CMake's conventions

action/Query.action

@@ -7,6 +7,7 @@ string type
 # This could for example be a natural language statement if a specific, non-object centric event is happening in the scene
 string description
 
+# A description of the object(s) you are looking for
 ObjectDesignator obj
 ---
 #result
@@ -14,6 +15,7 @@ ObjectDesignator obj
 # a generic string description what has been detected in the scene
 string description
 
+# A description of the object(s) we've found
 ObjectDesignator[] res
 ---
 #feedback

msg/ObjectDesignator.msg

@@ -3,10 +3,10 @@
 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
+ShapeSize[] shape_size                  # Object's possible sizes like dimensions or radius. Numerical values
 string[] color                          # Object's possible colors
 string location                         # Object's location
-string size                             # Object's size
+string size                             # Object's semantic size (e.g. small, large) in text format
 geometry_msgs/PoseStamped[] pose        # Object's possible 6D-poses
 string[] pose_source                    # Object's possible sources (e.g. camera0)
 

package.xml

@@ -54,7 +54,7 @@
   <depend>message_generation</depend>
   <depend>message_runtime</depend>
   <depend>rospy</depend>
-
+  <depend>geometry_msgs</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>