From f15aaea63e8dcc3a44494f71813ef76bfc7c3d95 Mon Sep 17 00:00:00 2001
From: juschulz <juschulz@uni-bremen.de>
Date: Fri, 9 Feb 2024 15:24:32 +0100
Subject: [PATCH] [HumanDescription fix] callback function changed to right
 type so that subscriber works now (hopefully)

---
 .../tests/Ms2_testable_stuff.py               | 10 +++++++---
 .../tests/perception_humans.py                | 20 +++++++++++++++++--
 src/pycram/designators/object_designator.py   |  7 +++++--
 3 files changed, 30 insertions(+), 7 deletions(-)

diff --git a/demos/pycram_receptionist_demo/tests/Ms2_testable_stuff.py b/demos/pycram_receptionist_demo/tests/Ms2_testable_stuff.py
index 006427af2..793571e46 100644
--- a/demos/pycram_receptionist_demo/tests/Ms2_testable_stuff.py
+++ b/demos/pycram_receptionist_demo/tests/Ms2_testable_stuff.py
@@ -48,15 +48,17 @@ def demo_test(area):
     with real_robot:
         print("start demo")
         host = HumanDescription("Bob", fav_drink="Coffee")
+        host.human_pose.set_value(False)
         guest1 = HumanDescription("guest1")
+        guest1.human_pose.set_value(False)
 
         # Perception, detect first guest
         DetectAction(technique='human', state='start').resolve().perform()
 
         # While loop, human is detected
-        #while not guest1.human_pose:
-        #    TalkingMotion("Please step in front of me").resolve.perform()
-        #    rospy.sleep(5)
+        while not guest1.human_pose.get_value():
+            TalkingMotion("Please step in front of me").resolve.perform()
+            rospy.sleep(5)
 
         rospy.loginfo("human detected")
 
@@ -97,6 +99,8 @@ def demo_test(area):
 
         # stop perceiving human
         DetectAction(technique='human', state='stop').resolve().perform()
+        guest1.human_pose.set_value(False)
+        host.human_pose.set_value(False)
 
         rospy.loginfo("Navigating now")
         TalkingMotion("navigating to couch area now, please step away").resolve().perform()
diff --git a/demos/pycram_receptionist_demo/tests/perception_humans.py b/demos/pycram_receptionist_demo/tests/perception_humans.py
index 03d08064b..59a2298ba 100644
--- a/demos/pycram_receptionist_demo/tests/perception_humans.py
+++ b/demos/pycram_receptionist_demo/tests/perception_humans.py
@@ -30,17 +30,33 @@
 
 def test():
     with real_robot:
-        print("...................... nothing" )
+        guest1 = HumanDescription("x")
+       # print("...................... nothing" )
+        guest1.human_pose.set_value(False)
+        if not guest1.human_pose.get_value():
+            print("wrong? " + str(guest1.human_pose))
 
+        if guest1.human_pose.get_value():
+            print("right? " + str(guest1.human_pose))
+
+        print("----------------------------------")
         DetectAction(technique='human', state='start').resolve().perform()
 
+        if not guest1.human_pose.get_value():
+            print("wrong? " + str(guest1.human_pose))
+
+        if guest1.human_pose.get_value():
+            print("right? " + str(guest1.human_pose))
+
+
+
         rospy.loginfo("human detected")
 
         print("---------- " + "start")
 
         rospy.loginfo("sleeping now")
 
-        rospy.sleep(10)
+        rospy.sleep(5)
 
         rospy.loginfo("sleep done stopping now")
 
diff --git a/src/pycram/designators/object_designator.py b/src/pycram/designators/object_designator.py
index c32f66c93..3301e1a41 100644
--- a/src/pycram/designators/object_designator.py
+++ b/src/pycram/designators/object_designator.py
@@ -3,6 +3,8 @@
 
 import rospy
 import sqlalchemy.orm
+from geometry_msgs.msg import PoseStamped
+
 from ..bullet_world import BulletWorld, Object as BulletWorldObject
 from ..designator import DesignatorDescription, ObjectDesignatorDescription
 from ..orm.base import ProcessMetaData
@@ -196,7 +198,7 @@ def __init__(self, name, fav_drink: Optional = None):
         self.name = name
         self.fav_drink = fav_drink  # self.shirt_color = shirt_color  # self.gender = gender
 
-        self.human_pose_sub = rospy.Subscriber("/human_pose", String, self.human_pose_cb)
+        self.human_pose_sub = rospy.Subscriber("/human_pose", PoseStamped, self.human_pose_cb)
 
     def human_pose_cb(self, HumanPoseMsg):
         """
@@ -204,7 +206,8 @@ def human_pose_cb(self, HumanPoseMsg):
         sets the attribute human_pose when someone (e.g. Perception/Robokudo) publishes on the topic
         :param HumanPoseMsg: received message
         """
-        self.human_pose.set_value(HumanPoseMsg.data)
+        rospy.loginfo("in callback")
+        self.human_pose.set_value(True)
 
     def set_name(self, new_name):
         """