enable reconfigure for vlpart node

tracking_ros/launch/vlpart_segment.launch

@@ -1,6 +1,8 @@
 <launch>
   <arg name="device" default="cuda:0" /> <!-- cpu or cuda -->
+  <arg name="reconfigure" default="false" />
   <arg name="input_image" default="/kinect_head/rgb/image_rect_color"/>
+  <arg name="vlpart_node_name" default="vlpart_node"/>
   <arg name="vocabulary" default="custom" /> <!-- "lvis", "paco"... "custom" -->
   <arg name="classes" default="cup handle; bottle cap;" /> <!-- object to detect when vocabulary is custom -->
   <arg name="confidence_threshold" default="0.5" /> <!-- confidence threshold -->
@@ -15,10 +17,25 @@
   <arg name="area_threshold" default="400" /> <!-- refine mask area threshold -->
   <arg name="refine_mode" default="holes" /> <!-- refine mode : "holes", "islands" -->
 
+  <!-- vlpart reconfigure node -->
+  <node name="vlpart_reconfigure_node"
+          pkg="tracking_ros" type="vlpart_reconfigure_node.py"
+          output="screen" if="$(arg reconfigure)" >
+    <rosparam subst_value="true" >
+        input_image: $(arg input_image)
+        node_name: /$(arg vlpart_node_name)
+        device: $(arg device)
+        use_sam: $(arg use_sam)
+        vocabulary: $(arg vocabulary)
+        classes: $(arg classes)
+        confidence_threshold: $(arg confidence_threshold)
+    </rosparam>
+  </node>
+
   <!-- vlpart node -->
-  <node name="vlpart_node"
+  <node name="$(arg vlpart_node_name)"
           pkg="tracking_ros" type="vlpart_node.py"
-          output="screen" >
+          output="screen" unless="$(arg reconfigure)" >
     <remap from="~input_image" to="$(arg input_image)" />
     <rosparam subst_value="true" >
         device: $(arg device)

tracking_ros/node_scripts/vlpart_reconfigure_node.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import rospy
+import rosnode
+import subprocess
+
+from dynamic_reconfigure.server import Server
+from tracking_ros.cfg import VLPartConfig as ServerConfig
+
+
+class VLPartReconfigureNode(object):
+    def __init__(self):
+        super(VLPartReconfigureNode, self).__init__()
+        self.node_name = rospy.get_param("~node_name", "/vlpart_node")
+        self.input_image = rospy.get_param("~input_image", "/camera/rgb/image_rect_color")
+        self.classes = rospy.get_param("~classes", "bottle cap; cup handle;")
+        self.confidence_threshold = rospy.get_param("~confidence_threshold", 0.5)
+        self.vocabulary = rospy.get_param("~vocabulary", "custom")
+        self.device = rospy.get_param("~device", "cuda:0")
+        self.use_sam = rospy.get_param("~use_sam", False)
+        self.reconfigure_server = Server(ServerConfig, self.config_cb)
+
+    def config_cb(self, config, level):
+        self.classes = config.classes
+        self.confidence_threshold = config.confidence_threshold
+        self.vocabulary = config.vocabulary
+        rospy.loginfo(f"Detecting Classes: {self.classes}")
+
+        # rosrun using subprocess cause vlpart is not configurable when it is running
+        if self.node_name in rosnode.get_node_names():  # Check if node exists, if it does, kill the node to reconfigure
+            rospy.loginfo("Node exists, killing node")
+            rosnode.kill_nodes([self.node_name])
+        else:  # If node does not exist, run the node
+            rospy.loginfo("Node does not exist")
+        subprocess.Popen(
+            """rosrun tracking_ros vlpart_node.py \
+                __name:={} \
+                ~input_image:={} \
+                _vocabulary:={} \
+                _classes:='{}' \
+                _device:={} \
+                _use_sam:={} \
+            """.format(
+                self.node_name, self.input_image, self.vocabulary, self.classes, self.device, self.use_sam
+            ),
+            shell=True,
+        )
+        return config
+
+
+if __name__ == "__main__":
+    rospy.init_node("vlpart_reconfigure_node")
+    node_manager_node = VLPartReconfigureNode()
+    rospy.spin()

tracking_ros/pyproject.toml

@@ -18,6 +18,7 @@ check_untyped_defs = true
 module = [
        "rospy",
        "rostest",
+       "rosnode",
        "rospkg",
        "cv_bridge",
        "dynamic_reconfigure.*",