Feat/get room - #21
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Create a new service msg Create a new function on pose.py to verifiy actual room
Create two new type of msgs update msgs services
Replace the name "place" to "object"
Update service and fix bus on pose.py Update msg type and srv
Capture room and object sub-area polygons by clicking points in RViz (geometry_msgs/PointStamped on /clicked_point) and write them to the 'rooms' section of a YAML file in the same format consumed by pose.py. Polygons are previewed live as markers and the finished area is drawn filled, labelled and coloured the moment it is closed. Only the 'rooms' section is written; the 'poses' section is preserved. Extract shared helpers to de-duplicate logic across the writers: - marker_utils.py: RViz marker builders, so the annotator preview is drawn identically to the runtime markers in pose.py - yaml_io.py: ordered-YAML load/dump, previously duplicated in pose_writer.py and place_pose_writer.py pose.py, pose_writer.py and place_pose_writer.py now use these shared modules; marker and YAML output are byte-for-byte unchanged.
Expand the Usage section with a description of what each writer node does (base poses, end-effector place poses, room/object boundary annotation) and fix the stray YOLO comment under Pose Writer.
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Added two new features. Now the get_group_names service returns a compiled yaml file, containing two main units, positions and rooms.
Positions are made up of points and orientation. Rooms are made up of their vertices (x,y), possible positions within them and possible objects.
And the new service, get_room. You need pass a pose on req and he will return a string list with two parameters, the room and the object thats pose is inside (or "None").