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End-of-pipeline service call to state machine #22
Description
When we reach the end of the pipeline, our model outputs a std_msgs/msg/u_int8 (depending on if it is the end of the pipeline or not). This should trigger a service call to the state machine telling it that we are done following the pipeline. The task is to make a ROS node which subscribes to this topic (std_msgs/msg/u_int8) and after having gotten X amount of consecutive detections, send out a service call to the state machine (contact @CurryMonsters for details on what service call). Contact either @kluge7 or @gardeg for information about the data the end-of-pipeline detector node outputs.
Related issues:
vortexntnu/vortex-pipeline-detection#17
vortexntnu/perception-auv#50
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kluge7 commentedon Mar 24, 2026
Output example:
data 1 means end of pipeline, while data 0 means keep following:
kluge7 commentedon Mar 24, 2026
Rosbag example
CurryMonsters commentedon Mar 24, 2026
ros2 service call /orca/pipeline_inspection_fsm/pipeline_finished std_srvs/srv/Trigger {}, it will be something similar to this
kluge7 commentedon Apr 21, 2026
Make a branch on the vortex-cv repository (https://github.com/vortexntnu/vortex-cv). Add a package to here (https://github.com/vortexntnu/vortex-cv/tree/main/mission/tacc/pipeline_inspection) - also make a new branch