From 24c436a9fec63f3810322f8435233c2b30bdf35d Mon Sep 17 00:00:00 2001 From: Yun Chang Date: Mon, 24 Feb 2025 21:24:01 -0500 Subject: [PATCH] get rid of unused header to avoid confusion (#26) --- extra/ouroboros_msgs/msg/SparkImageMsg.msg | 1 - extra/ouroboros_msgs/msg/VlcImageMsg.msg | 1 - extra/ouroboros_ros/src/ouroboros_ros/conversions.py | 1 - .../src/ouroboros_ros/vlc_multirobot_server_ros.py | 2 +- 4 files changed, 1 insertion(+), 4 deletions(-) diff --git a/extra/ouroboros_msgs/msg/SparkImageMsg.msg b/extra/ouroboros_msgs/msg/SparkImageMsg.msg index fd853fc..10b7f46 100644 --- a/extra/ouroboros_msgs/msg/SparkImageMsg.msg +++ b/extra/ouroboros_msgs/msg/SparkImageMsg.msg @@ -1,3 +1,2 @@ -std_msgs/Header header sensor_msgs/Image rgb sensor_msgs/Image depth diff --git a/extra/ouroboros_msgs/msg/VlcImageMsg.msg b/extra/ouroboros_msgs/msg/VlcImageMsg.msg index f182481..2a1230d 100644 --- a/extra/ouroboros_msgs/msg/VlcImageMsg.msg +++ b/extra/ouroboros_msgs/msg/VlcImageMsg.msg @@ -1,4 +1,3 @@ -std_msgs/Header header ouroboros_msgs/VlcImageMetadataMsg metadata ouroboros_msgs/SparkImageMsg image float32[] embedding diff --git a/extra/ouroboros_ros/src/ouroboros_ros/conversions.py b/extra/ouroboros_ros/src/ouroboros_ros/conversions.py index 0dbae90..3c56753 100644 --- a/extra/ouroboros_ros/src/ouroboros_ros/conversions.py +++ b/extra/ouroboros_ros/src/ouroboros_ros/conversions.py @@ -48,7 +48,6 @@ def vlc_image_to_msg( vlc_msg = VlcImageMsg() if vlc.image is not None and convert_image: vlc_msg.image = spark_image_to_msg(vlc.image) - vlc_msg.header = vlc_msg.image.header vlc_msg.metadata = vlc_image_metadata_to_msg(vlc.metadata) if vlc.embedding is not None and convert_embedding: vlc_msg.embedding = vlc.embedding.tolist() diff --git a/extra/ouroboros_ros/src/ouroboros_ros/vlc_multirobot_server_ros.py b/extra/ouroboros_ros/src/ouroboros_ros/vlc_multirobot_server_ros.py index 3dfc377..e03a6c8 100644 --- a/extra/ouroboros_ros/src/ouroboros_ros/vlc_multirobot_server_ros.py +++ b/extra/ouroboros_ros/src/ouroboros_ros/vlc_multirobot_server_ros.py @@ -184,7 +184,7 @@ def embedding_timer_callback(self, event): def client_embedding_callback(self, vlc_img_msg, robot_id): # Add image vlc_image = vlc_image_from_msg(vlc_img_msg) - vlc_stamp = vlc_img_msg.header.stamp.to_nsec() + vlc_stamp = vlc_img_msg.metadata.epoch_ns new_uuid = self.vlc_server.add_embedding_no_image( self.robot_infos[robot_id].session_id, vlc_image.embedding,