add isSubscribed() to detector interface

.github/workflows/ci.yaml

@@ -13,7 +13,7 @@ on:
 
 jobs:
   build_ros2:
-    uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_recent_ci.yml@master
+    uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ci_humble_and_later.yml@master
     with:
       repo: ${{ github.event.repository.name }}
-      vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos
+      vcs_url: ${{ github.event.repository.name }}.repos

apriltag_detector/include/apriltag_detector/detector_component.hpp

@@ -41,6 +41,8 @@ class DetectorComponent : public rclcpp::Node
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
   ~DetectorComponent();
   auto getNumMessages() const { return (num_messages_); }
+  auto getNumTagsDetected() const { return (num_tags_detected_); }
+  auto isSubscribed() const { return (is_subscribed_); }
 
 private:
   void subscribe();
@@ -55,6 +57,7 @@ class DetectorComponent : public rclcpp::Node
   std::string image_qos_profile_{"default"};
   std::string in_transport_{"raw"};
   std::size_t num_messages_{0};
+  std::size_t num_tags_detected_{0};
   pluginlib::ClassLoader<apriltag_detector::Detector> detector_loader_;
   std::shared_ptr<apriltag_detector::Detector> detector_;
 };

apriltag_detector/src/detector_component.cpp

@@ -160,6 +160,7 @@ void DetectorComponent::callback(
       std::make_unique<apriltag_msgs::msg::AprilTagDetectionArray>();
     detector_->detect(cvImg->image, array_msg.get());
     array_msg->header = msg->header;
+    num_tags_detected_ += array_msg->detections.size();
     detect_pub_->publish(std::move(array_msg));
   }
 }

apriltag_tools/src/detect_from_bag.cpp

@@ -61,6 +61,7 @@ int main(int argc, char ** argv)
     rclcpp::shutdown();
     throw std::runtime_error("must specify image_topic parameter!");
   }
+  dummy_node.reset();  // delete dummy node object
 
   rclcpp::executors::SingleThreadedExecutor exec;
 
@@ -107,6 +108,7 @@ int main(int argc, char ** argv)
     {Parameter("storage.uri", in_uri),
      Parameter("play.clock_publish_on_topic_publish", true),
      Parameter("play.start_paused", true), Parameter("play.rate", 0.9),
+     Parameter("play.progress_bar_update_rate", 0),
      Parameter("play.disable_keyboard_controls", true)});
   player_options.use_intra_process_comms(true);
   auto player_node =
@@ -138,7 +140,9 @@ int main(int argc, char ** argv)
 
   exec.add_node(recorder_node);
   if (player_node->play_next() && rclcpp::ok()) {
-    while (rclcpp::ok() && !draw_node->isSubscribed()) {
+    while (rclcpp::ok() &&
+           !(draw_node->isSubscribed() && detector_node->isSubscribed() &&
+             recorder_node->subscriptions().size() == topics.size())) {
       exec.spin_some();
     }
   }
@@ -151,7 +155,9 @@ int main(int argc, char ** argv)
   exec.spin_some();  // for recording the last message
 
   RCLCPP_INFO_STREAM(
-    get_logger(), "num messages detected: " << detector_node->getNumMessages());
+    get_logger(), "num messages found: " << detector_node->getNumMessages());
+  RCLCPP_INFO_STREAM(
+    get_logger(), "num tags detected: " << detector_node->getNumTagsDetected());
   RCLCPP_INFO(get_logger(), "detect_from_bag finished!");
   rclcpp::shutdown();
   return 0;