Robot changes

src/homer_gesture_recognition/interfaces.py

@@ -100,7 +100,7 @@ class GestureRecognitionInterface:
                 gestures = rospy.wait_for_message(
                     "/gesture_recognition/pointing",
                     PersonGestures,
-                    timeout=timeout / gesture_count,
+                    timeout=timeout,
                 )
             except:
                 break
@@ -117,34 +117,36 @@ class GestureRecognitionInterface:
                     ray_right = map(lambda p: PointWrapper(p), pointing.ray_right)
                     ray_left = map(lambda p: PointWrapper(p), pointing.ray_left)
 
-            if store_right != [] and store_left != []:
+            if store_right == [] and store_left == []:
+                rospy.loginfo("initially set store")
                 store_right = ray_right
                 store_left = ray_left
                 continue
 
             else:
-                count = 0
+                store_modifications = 0
                 if ray_right != [] and store_right != []:
                     if ray_right[1].distance(store_right[1]) < distance_threshold:
 
                         store_right[1] = (store_right[1] + ray_right[1]) / 2
 
-                        count += 1
+                        store_modifications += 1
 
                 if ray_left != [] and store_left != []:
                     if ray_left[1].distance(store_left[1]) < distance_threshold:
 
                         store_left[1] = (store_left[1] + ray_left[1]) / 2
 
-                        count += 1
+                        store_modifications += 1
 
-                if count > 0:
+                if store_modifications > 0:
                     counter += 1
-
+                    rospy.loginfo("inremented counter is now at " + str(counter))
                 else:
                     store_right = []
                     store_left = []
                     counter = 0
+                    rospy.loginfo("reset store")
 
                 if counter >= gesture_count:
 
@@ -154,7 +156,7 @@ class GestureRecognitionInterface:
                     ]
 
                     if visualize:
-                        publish_marker(result, lifetime=10, scale=0.2)
+                        publish_marker(result, lifetime=10, scale=0.15, frame_id="map")
 
                     return result