Hi ROS community! :)
I'm a pretty beginner in ROS and I'm trying to implement a [**semantic camera**](https://www.openrobots.org/morse/doc/1.2/user/sensors/semantic_camera.html) in ROS + Morse + Blender platform in order to get data from specific objects from Blender scenario. The problem is that we don't a lot of information documented or code as example to follow.
I follow these documentation from Morse: [Semantic camera](https://www.openrobots.org/morse/doc/1.2/user/sensors/semantic_camera.html) and [SemanticCameraPublisher class](https://www.openrobots.org/morse/doc/1.2/user/code/morse.middleware.ros.html#morse.middleware.ros.semantic_camera.SemanticCameraPublisher). Both lists some parameters and also the code to consider on Morse Builder API, but I don't know how or where I could use them in my code.
In builder.py code, I set :
from morse.builder import *
atrv = ATRV() #the robot
atrv.translate(x=2.5, y=3.2, z=0.0) #starting location
#adding a passive object
table = PassiveObject('props/objects','SmallTable')
table.setgraspable()
table.translate(x=0, y=0, z=-5)
table.properties(Object = True, Graspable = True, Label = "TABLE")
#adding a semantic camera
camera = SemanticCamera()
atrv.append(camera)
camera.translate(x=0.3, z=0.762)
camera.add_interface('ros',topic='/camera')
Then my goal is that ATVR robot needs to identify the table object, like this [article](http://airccse.com/jares/papers/1116jares01.pdf) does. In subscriber code, I've tried to define a msg function to print **get_local_data()**, but I don't know what object I need to declare from import, because the message is a String type (because rospy publishes the data of the semantic camera as JSON in a ROS String message). My current code is like that, but it is not working at all:
import rospy
from std_msgs.msg import String
def callback_semcam(msg):
reponse = String.get_local_data()
tmp = reponse.result()
print (tmp['visible_objects'])
if __name__=='__main__':
rospy.init_node("obstacle_check_node")
rospy.Subscriber('/camera', String, callback_semcam)
rospy.spin() # this will block untill you hit Ctrl+C
When I run the code above, I get this error:
[ERROR] [WallTime: 1524369527.637321] bad callback:
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
cb(msg)
File "obstacle_check.py", line 27, in callback_semcam
reponse = String.get_local_data()
AttributeError: type object 'String' has no attribute 'get_local_data'
Any idea of what we need to take into account when we uses a semantic camera in ROS?
P.S.: I use ROS Indigo.
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