diff --git a/RWR/src/spot_micro_keyboard_command/CMakeLists.txt b/RWR/src/spot_micro_keyboard_command/CMakeLists.txt
index 29689dd6c263a301bb162cf1f3baa5c5eec8148f..367f7c4477a15c2976d64c1413c2229ed31daf16 100644
--- a/RWR/src/spot_micro_keyboard_command/CMakeLists.txt
+++ b/RWR/src/spot_micro_keyboard_command/CMakeLists.txt
@@ -138,7 +138,8 @@ include_directories(
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
#add_executable(${PROJECT_NAME}_node src/spot_micro_keyboard_command_node.cpp)
-add_executable(move ~/3rdYear/RWR/Robot-With-Reflexes/spotMicroCode/catkin_ws/src/spotMicro/spot_micro_keyboard_command/objectDet.cpp)
+
+add_executable(move src/objectDet.cpp)
add_dependencies(move
${${PROJECT_NAME}_EXPORTED_TARGETS}
diff --git a/RWR/src/spot_micro_keyboard_command/include/objectDet.h b/RWR/src/spot_micro_keyboard_command/include/objectDet.h
new file mode 100644
index 0000000000000000000000000000000000000000..15831a0408945dbd6685581b3de5af8df4538e62
--- /dev/null
+++ b/RWR/src/spot_micro_keyboard_command/include/objectDet.h
@@ -0,0 +1,24 @@
+#ifndef OBJECT_DET_H
+#define OBJECT_DET_H
+
+#include <ros/ros.h>
+#include <std_msgs/Bool.h>
+
+class ObjectDet
+{
+ public:
+ ObjectDet(ros::NodeHandle & nh);
+ ~ObjectDet();
+
+ private:
+ bool called;
+ ros::NodeHandle nh_;
+ ros::Publisher walk_cmd;
+ ros::Publisher stand_cmd;
+ ros::Subscriber obj_det;
+ //ros::Subscriber curr_state;
+
+ void ObjectDetectedCallback(const std_msgs::Bool::ConstPtr& det);
+};
+
+#endif //OBJECT_DET_H
\ No newline at end of file
diff --git a/RWR/src/spot_micro_keyboard_command/launch/keyboard_command.launch b/RWR/src/spot_micro_keyboard_command/launch/keyboard_command.launch
index 9442cacdcc8db52c503f64a8c951629e47f7721f..bdf260e99413e5cc33613308b60099a2c74dbc3a 100644
--- a/RWR/src/spot_micro_keyboard_command/launch/keyboard_command.launch
+++ b/RWR/src/spot_micro_keyboard_command/launch/keyboard_command.launch
@@ -14,7 +14,7 @@
<node name="spot_micro_keyboard_command_node" pkg="spot_micro_keyboard_command" type="spotMicroKeyboardMove.py" output="screen">
</node>
- <!-- Run the hard left node -->
+ <!-- Run the stand and walk node -->
<node name="postObjDetMovement" pkg="spot_micro_keyboard_command" type="postObjDetect.py" output="screen">
</node>
@@ -25,7 +25,7 @@
<!-- If run_rviz is true, run the rviz node by including it's launch file -->
<group if="$(arg run_rviz)">
- <include file="$(find spot_micro_rviz)/launch/show_model.launch" />
+ <include file="$(find spot_micro_rviz)/launch/show_and_move_model_via_gui.launch" />
</group>
</launch>
diff --git a/RWR/src/spot_micro_keyboard_command/objectDet.cpp b/RWR/src/spot_micro_keyboard_command/objectDet.cpp
deleted file mode 100644
index d7222ba4a1f467de4d418da488f4daa231127738..0000000000000000000000000000000000000000
--- a/RWR/src/spot_micro_keyboard_command/objectDet.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include <ros/ros.h>
-#include <geometry_msgs/Twist.h>
-#include <tf/transform_datatypes.h>
-#include <std_msgs/Bool.h>
-
-int main(int argc, char **argv) {
- ros::init(argc, argv, "move_publisher");
- ros::NodeHandle nh;
- ros::Publisher stand_pub = nh.advertise<std_msgs::Bool>("/stand_cmd", 1000);
- ros::Publisher walk_pub = nh.advertise<std_msgs::Bool>("/walk_cmd",1000);
-
- //ros::Rate loop_rate(10);
- //int count = 0;
-
- std_msgs::Bool stand_msg;
- std_msgs::Bool walk_msg;
- stand_msg.data = true;
- walk_msg.data = true;
-
- stand_pub.publish(stand_msg);
- //walk_pub.publish(walk_msg);
-
- //ros::spinOnce();
-
- return 0;
-}
\ No newline at end of file
diff --git a/RWR/src/spot_micro_keyboard_command/postObjDetect.py b/RWR/src/spot_micro_keyboard_command/postObjDetect.py
new file mode 100644
index 0000000000000000000000000000000000000000..9fd1402b9ed890a913333448549aae8497554086
--- /dev/null
+++ b/RWR/src/spot_micro_keyboard_command/postObjDetect.py
@@ -0,0 +1,45 @@
+#!/usr/bin/python3
+
+import rospy
+import sys, select, termios, tty # For terminal keyboard key press reading
+from std_msgs.msg import Bool
+from math import pi
+
+called = False
+
+def objCallback(obj_det):
+ #inputArgs = Twist()
+ called = False
+
+ if obj_det == True:
+ called = True
+ stand_msg = Bool()
+ stand_msg.data = True
+ walk_msg = Bool()
+ walk_msg.data = True
+
+ obj_det = rospy.Subscriber('/obj_det', Bool)
+
+ standPub = rospy.Publisher('/stand_cmd',Bool,queue_size=1)
+ walkPub = rospy.Publish('/walk_cmd',Bool, queue_size=1)
+
+ standPub.publish(stand_msg)
+ walkPub.publish(walk_msg)
+
+ rospy.loginfo("issued obj detected - transitioning to walk mode")
+
+ else:
+ if called == True:
+ rospy.loginfo("issued obj detected already")
+ else:
+ rospy.loginfo("No obj called from command line")
+
+
+def listener():
+ rospy.init_node('obj_det_sub')
+ rospy.Subscriber('/obj_det', Bool, objCallback, queue_size=1)
+ rospy.Spin()
+
+if __name__ == '__main__':
+ listener()
+ #obj_det = rospy.Subscriber('/obj_det', Bool, objCallback, queue_size=1)
diff --git a/RWR/src/spot_micro_keyboard_command/scripts/postObjDetect.py b/RWR/src/spot_micro_keyboard_command/scripts/postObjDetect.py
deleted file mode 100644
index deb6672fdb51fd3248c2589233e980e24b098f11..0000000000000000000000000000000000000000
--- a/RWR/src/spot_micro_keyboard_command/scripts/postObjDetect.py
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/python3
-
-import rospy
-import sys, select, termios, tty # For terminal keyboard key press reading
-from std_msgs.msg import Bool
-from geometry_msgs.msg import Vector3
-from geometry_msgs.msg import Twist
-from math import pi
-
-def stand_walk():
- inputArgs = Twist()
-
- stand_msg = Bool()
- stand_msg.data = True
- walk_msg = Bool()
- walk_msg.data = True
-
- standPub = rospy.Publisher('/stand_cmd',Bool,queue_size=1)
- walkPub = rospy.Publish('/walk_cmd',Bool, queue_size=1)
-
- standPub.publish(stand_msg)
- walkPub.publish(walk_msg)
-
- rospy.loginfo("issued obj detected - transitioning to walk mode")
-
-
-
-if __name__ == '__main__':
- stand_walk()
diff --git a/RWR/src/spot_micro_keyboard_command/src/objectDet.cpp b/RWR/src/spot_micro_keyboard_command/src/objectDet.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a6acb179cbf06ce45d6c8647a27c80f96b19eadf
--- /dev/null
+++ b/RWR/src/spot_micro_keyboard_command/src/objectDet.cpp
@@ -0,0 +1,50 @@
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+#include <tf/transform_datatypes.h>
+#include <std_msgs/Bool.h>
+
+#include "objectDet.h"
+
+ObjectDet::ObjectDet(ros::NodeHandle & nh) : nh_(nh)
+{
+ called = false;
+
+ stand_cmd = nh_.advertise<std_msgs::Bool>("/stand_cmd", 1);
+ walk_cmd = nh_.advertise<std_msgs::Bool>("/walk_cmd", 1);
+
+ obj_det = nh_.subscribe("/obj_det", 1, &ObjectDet::ObjectDetectedCallback, this);
+}
+
+ObjectDet::~ObjectDet()
+{}
+
+void ObjectDet::ObjectDetectedCallback(const std_msgs::Bool::ConstPtr& det)
+{
+ if(det && (called == false)){
+ std_msgs::Bool stand_msg;
+ std_msgs::Bool walk_msg;
+
+ stand_msg.data = true;
+ walk_msg.data = true;
+
+ stand_cmd.publish(stand_msg);
+ walk_cmd.publish(walk_msg);
+
+ called = true;
+ }
+ else
+ {
+ ROS_INFO_STREAM("No Object detected or already in walk mode");
+ }
+}
+
+
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "move_publisher");
+
+ ros::NodeHandle nh;
+ ObjectDet detected(nh);
+
+ ros::spin();
+ return 0;
+}
\ No newline at end of file