Catkinization fixes and rosparam fixes

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(face_recognition)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  message_generation
+  std_msgs
+  actionlib
+  actionlib_msgs
+  cv_bridge
+  image_transport
+)
+
+#CFLAGS:
+set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -Wall -o0")
+
+## System dependencies are found with CMake's conventions
+# find_package(OpenCV REQUIRED)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   FRClientGoal.msg
+ )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+ add_action_files(
+   FILES
+   FaceRecognition.action
+)
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+   actionlib_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+
+catkin_package(
+  INCLUDE_DIRS ${actionlib_msgs_PACKAGE_PATH}
+  CATKIN_DEPENDS message_runtime roscpp std_msgs actionlib rospy roslib actionlib_msgs cv_bridge image_transport #opencv2  
+)
+
+
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${actionlib_msgs_PACKAGE_PATH}
+  ${OpenCV_INCLUDE_DIRS} 
+)
+
+## Declare cpp libraries: 
+add_library(face_recognition_lib src/face_recognition_lib.cpp)
+
+## Declare a cpp executable
+add_executable(Fserver src/face_recognition.cpp)
+add_executable(Fclient src/face_rec_client.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+
+add_dependencies(Fclient face_recognition_generate_messages_cpp)
+
+add_dependencies(Fserver ${catkin_EXPORTED_TARGETS})
+add_dependencies(Fclient ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(Fserver ${catkin_LIBRARIES})
+target_link_libraries(Fclient ${catkin_LIBRARIES})
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS socialrobot_gsoap socialrobot_gsoap_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}linking actionlib
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_socialrobot_gsoap.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

Makefile

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+include $(shell rospack find mk)/cmake.mk

action/FaceRecognition.action

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+#goal definition
+uint8   order_id 
+string  order_argument
+---
+#result definition
+uint8   order_id
+string[]  names
+float32[] confidence
+---
+#feedback
+uint8   order_id
+string[]  names
+float32[] confidence
+
+
+
+
+
+
+################# order_id
+#order_id = 0: recognize_once
+#order_id = 1: recognize_continuous
+#order_id = 2  add_face_images
+#order_id = 3  (re)train
+#order_id = 4  exit
+
+################ order_argument
+# for the add_face_images goal, the order_argument specifies the name of the person for which training images are acquired from the camera.
+
+################ name and confidence in feedback and result
+# for Order_id = 0 or 1, name and confidence are the name and confidence of the recognized person in the video stream.