<commit_before><launch>
  <arg name="NODELET_MANAGER" />
  <arg name="INPUT_CLOUD" />
  <arg name="INPUT_IMAGE" />
  <arg name="NODELET_ID_7" />

  <group ns="$(arg NODELET_MANAGER)">
    <rosparam subst_value="true">
      nodelets_$(arg NODELET_ID_7):
        - name: in_hand_clipper
          type: jsk_pcl/AttentionClipper
          remappings:
            - from: ~input/points
              to: $(arg INPUT_CLOUD)
        - name: extract_indices_left_hand
          type: jsk_pcl/ExtractIndices
          remappings:
            - from: ~input
              to: $(arg INPUT_CLOUD)
            - from: ~indices
              to: /in_hand_clipper/left_hand/point_indices
            - from: ~output
              to: ~points
        - name: extract_indices_right_hand
          type: jsk_pcl/ExtractIndices
          remappings:
            - from: ~input
              to: $(arg INPUT_CLOUD)
            - from: ~indices
              to: /in_hand_clipper/right_hand/point_indices
            - from: ~output
              to: ~points
        - name: pc_to_pi_left_hand
          type: jsk_pcl/OrganizedPointCloudToPointIndices
          remappings:
          - from: ~input
            to: /extract_indices_left_hand/points_filtered
        - name: pc_to_pi_right_hand
          type: jsk_pcl/OrganizedPointCloudToPointIndices
          remappings:
          - from: ~input
            to: /extract_indices_right_hand/points_filtered
        - name: pi_to_mask_left_hand
          type: jsk_pcl/PointIndicesToMaskImage
          remappings:
          - from: ~input
            to: /pc_to_pi_left_hand/output
          - from: ~input/image
            to: $(arg INPUT_IMAGE)
        - name: pi_to_mask_right_hand
          type: jsk_pcl/PointIndicesToMaskImage
          remappings:
          - from: ~input
            to: /pc_to_pi_right_hand/output
          - from: ~input/image
            to: $(arg INPUT_IMAGE)
        - name: closing_left_hand
          type: jsk_perception/Closing
          remappings:
          - from: ~input
            to: /pi_to_mask_left_hand/output
        - name: closing_right_hand
          type: jsk_perception/Closing
          remappings:
          - from: ~input
            to: /pi_to_mask_right_hand/output
        - name: apply_mask_left_hand
          type: jsk_perception/ApplyMaskImage
          remappings:
          - from: ~input
            to: $(arg INPUT_IMAGE)
          - from: ~input/mask
            to: /closing_left_hand/output
        - name: apply_mask_right_hand
          type: jsk_perception/ApplyMaskImage
          remappings:
          - from: ~input
            to: $(arg INPUT_IMAGE)
          - from: ~input/mask
            to: /closing_right_hand/output
    </rosparam>
  </group>
  <group ns="in_hand_clipper">
    <rosparam>
      use_multiple_attention: true
      initial_pos_list: [[0.0, 0.0, 0.15], [0.0, 0.0, 0.15]]
      initial_rot_list: [[0, 0, 0], [0, 0, 0]]
      dimensions: [[0.3, 0.3, 0.2], [0.3, 0.3, 0.2]]
      frame_id_list: [left_gripper_vacuum_pad, right_gripper_vacuum_pad]
      prefixes: [left_hand, right_hand]
    </rosparam>
  </group>


  <!-- debug info -->
  <group ns="extract_indices_left_hand">
    <rosparam>
      keep_organized: true
    </rosparam>
  </group>
  <group ns="extract_indices_right_hand">
    <rosparam>
      keep_organized: true
    </rosparam>
  </group>

  <!-- object segmented image -->
  <!-- convert point indices to mask image -->
  <group ns="pi_to_mask_left_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>
  <group ns="pi_to_mask_right_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>

  <!-- process mask image -->
  <group ns="closing_left_hand">
    <rosparam>
      size: 8
      iterations: 4
    </rosparam>
  </group>
  <group ns="closing_right_hand">
    <rosparam>
      size: 8
      iterations: 4
    </rosparam>
  </group>
  <!-- apply mask image -->
  <group ns="apply_mask_left_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>
  <group ns="apply_mask_right_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>


  <!-- self filter -->
  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/self_filter.launch">
    <arg name="INPUT_CLOUD" value="extract_indices_left_hand/points" />
    <arg name="OUTPUT_CLOUD" value="extract_indices_left_hand/points_filtered" />
  </include>
  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/self_filter.launch">
    <arg name="INPUT_CLOUD" value="extract_indices_right_hand/points" />
    <arg name="OUTPUT_CLOUD" value="extract_indices_right_hand/points_filtered" />
  </include>


  <!-- object recognition -->
  <!-- FIXME: in sheeta, vgg16 net infering is too slow, so we use doura. -->
  <machine name="doura" address="192.168.127.12"
           env-loader="/home/baxter/env-indigo.sh" user="baxter" />
  <group ns="left_hand">
    <include file="$(find jsk_apc2015_common)/launch/vgg16_object_recognition.launch">
      <arg name="INPUT_IMAGE" value="/apply_mask_left_hand/output" />
      <arg name="MACHINE" value="doura" />
    </include>
  </group>
  <group ns="right_hand">
    <include file="$(find jsk_apc2015_common)/launch/vgg16_object_recognition.launch">
      <arg name="INPUT_IMAGE" value="/apply_mask_right_hand/output" />
      <arg name="MACHINE" value="doura" />
    </include>
  </group>


</launch>
<commit_msg>Launch vgg16_object_recognition in satan<commit_after><launch>
  <arg name="NODELET_MANAGER" />
  <arg name="INPUT_CLOUD" />
  <arg name="INPUT_IMAGE" />
  <arg name="NODELET_ID_7" />

  <group ns="$(arg NODELET_MANAGER)">
    <rosparam subst_value="true">
      nodelets_$(arg NODELET_ID_7):
        - name: in_hand_clipper
          type: jsk_pcl/AttentionClipper
          remappings:
            - from: ~input/points
              to: $(arg INPUT_CLOUD)
        - name: extract_indices_left_hand
          type: jsk_pcl/ExtractIndices
          remappings:
            - from: ~input
              to: $(arg INPUT_CLOUD)
            - from: ~indices
              to: /in_hand_clipper/left_hand/point_indices
            - from: ~output
              to: ~points
        - name: extract_indices_right_hand
          type: jsk_pcl/ExtractIndices
          remappings:
            - from: ~input
              to: $(arg INPUT_CLOUD)
            - from: ~indices
              to: /in_hand_clipper/right_hand/point_indices
            - from: ~output
              to: ~points
        - name: pc_to_pi_left_hand
          type: jsk_pcl/OrganizedPointCloudToPointIndices
          remappings:
          - from: ~input
            to: /extract_indices_left_hand/points_filtered
        - name: pc_to_pi_right_hand
          type: jsk_pcl/OrganizedPointCloudToPointIndices
          remappings:
          - from: ~input
            to: /extract_indices_right_hand/points_filtered
        - name: pi_to_mask_left_hand
          type: jsk_pcl/PointIndicesToMaskImage
          remappings:
          - from: ~input
            to: /pc_to_pi_left_hand/output
          - from: ~input/image
            to: $(arg INPUT_IMAGE)
        - name: pi_to_mask_right_hand
          type: jsk_pcl/PointIndicesToMaskImage
          remappings:
          - from: ~input
            to: /pc_to_pi_right_hand/output
          - from: ~input/image
            to: $(arg INPUT_IMAGE)
        - name: closing_left_hand
          type: jsk_perception/Closing
          remappings:
          - from: ~input
            to: /pi_to_mask_left_hand/output
        - name: closing_right_hand
          type: jsk_perception/Closing
          remappings:
          - from: ~input
            to: /pi_to_mask_right_hand/output
        - name: apply_mask_left_hand
          type: jsk_perception/ApplyMaskImage
          remappings:
          - from: ~input
            to: $(arg INPUT_IMAGE)
          - from: ~input/mask
            to: /closing_left_hand/output
        - name: apply_mask_right_hand
          type: jsk_perception/ApplyMaskImage
          remappings:
          - from: ~input
            to: $(arg INPUT_IMAGE)
          - from: ~input/mask
            to: /closing_right_hand/output
    </rosparam>
  </group>
  <group ns="in_hand_clipper">
    <rosparam>
      use_multiple_attention: true
      initial_pos_list: [[0.0, 0.0, 0.15], [0.0, 0.0, 0.15]]
      initial_rot_list: [[0, 0, 0], [0, 0, 0]]
      dimensions: [[0.3, 0.3, 0.2], [0.3, 0.3, 0.2]]
      frame_id_list: [left_gripper_vacuum_pad, right_gripper_vacuum_pad]
      prefixes: [left_hand, right_hand]
    </rosparam>
  </group>


  <!-- debug info -->
  <group ns="extract_indices_left_hand">
    <rosparam>
      keep_organized: true
    </rosparam>
  </group>
  <group ns="extract_indices_right_hand">
    <rosparam>
      keep_organized: true
    </rosparam>
  </group>

  <!-- object segmented image -->
  <!-- convert point indices to mask image -->
  <group ns="pi_to_mask_left_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>
  <group ns="pi_to_mask_right_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>

  <!-- process mask image -->
  <group ns="closing_left_hand">
    <rosparam>
      size: 8
      iterations: 4
    </rosparam>
  </group>
  <group ns="closing_right_hand">
    <rosparam>
      size: 8
      iterations: 4
    </rosparam>
  </group>
  <!-- apply mask image -->
  <group ns="apply_mask_left_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>
  <group ns="apply_mask_right_hand">
    <rosparam>
      queue_size: 1000
    </rosparam>
  </group>


  <!-- self filter -->
  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/self_filter.launch">
    <arg name="INPUT_CLOUD" value="extract_indices_left_hand/points" />
    <arg name="OUTPUT_CLOUD" value="extract_indices_left_hand/points_filtered" />
  </include>
  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/self_filter.launch">
    <arg name="INPUT_CLOUD" value="extract_indices_right_hand/points" />
    <arg name="OUTPUT_CLOUD" value="extract_indices_right_hand/points_filtered" />
  </include>


  <!-- object recognition -->
  <group ns="left_hand">
    <include file="$(find jsk_apc2015_common)/launch/vgg16_object_recognition.launch">
      <arg name="INPUT_IMAGE" value="/apply_mask_left_hand/output" />
      <arg name="MACHINE" value="localhost" />
    </include>
  </group>
  <group ns="right_hand">
    <include file="$(find jsk_apc2015_common)/launch/vgg16_object_recognition.launch">
      <arg name="INPUT_IMAGE" value="/apply_mask_right_hand/output" />
      <arg name="MACHINE" value="localhost" />
    </include>
  </group>


</launch>

{'fraction_non_alphanumeric': 0.11958551157580284, 'fraction_numerical': 0.015963405526512323, 'mean_word_length': 2.243415077202543, 'pattern_counts': {'":': 0, '<': 151, '<?xml version=': 0, '>': 151, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 1, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '977075', 'n_tokens_mistral': 3780, 'n_tokens_neox': 3645, 'n_words': 657}