From 28c42dc137c879b739baaa26b937d210c8ea9613 Mon Sep 17 00:00:00 2001
From: Alejandro Gonzalez <agonzc34@estudiantes.unileon.es>
Date: Thu, 23 Apr 2026 14:42:37 +0100
Subject: [PATCH 1/2] Count people empty ports

Co-authored-by: Copilot <copilot@github.com>
---
 bt_nodes/perception/src/perception/count_people.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/bt_nodes/perception/src/perception/count_people.cpp b/bt_nodes/perception/src/perception/count_people.cpp
index e3da1d5..920beea 100644
--- a/bt_nodes/perception/src/perception/count_people.cpp
+++ b/bt_nodes/perception/src/perception/count_people.cpp
@@ -140,7 +140,7 @@ BT::NodeStatus CountPeople::tick()
       }
 
       // gesture filtering
-      if (gesture_ != "unknown" && !removed) {
+      if (gesture_ != "unknown" && !gesture_.empty() && !removed) {
         RCLCPP_INFO(node_->get_logger(), "[CountPeople] Count by gesture");
         if (std::find(
             gestures_[gesture_].begin(), gestures_[gesture_].end(),
@@ -159,7 +159,7 @@ BT::NodeStatus CountPeople::tick()
       }
 
       // pose filtering
-      if (pose_ != "unknown" && !removed) {
+      if (pose_ != "unknown" && !pose_.empty() && !removed) {
         RCLCPP_INFO(node_->get_logger(), "[CountPeople] Count by pose");
         if (pose_names_[detection.body_pose] == pose_) {
           RCLCPP_DEBUG(

From 49bedd370c333e2d93983e7605ab3fcaca802e06 Mon Sep 17 00:00:00 2001
From: Alejandro Gonzalez <agonzc34@estudiantes.unileon.es>
Date: Thu, 23 Apr 2026 14:42:51 +0100
Subject: [PATCH 2/2] Better speak for gpsr interaction

Co-authored-by: Copilot <copilot@github.com>
---
 robocup_bringup/bt_xml/gpsr.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/robocup_bringup/bt_xml/gpsr.xml b/robocup_bringup/bt_xml/gpsr.xml
index 0822220..ef0e1d0 100644
--- a/robocup_bringup/bt_xml/gpsr.xml
+++ b/robocup_bringup/bt_xml/gpsr.xml
@@ -32,8 +32,8 @@
                             <Action ID="StartMusic" audio="elevator" loop="true" />
                             <Action ID="CommandPlanning" command="{command}" actions="{action_list}" bt_value="{bt_xml}"/>
                             <Action ID="StopMusic" />
-                            <Action ID="Speak" say_text="Then I have to do the following actions " param="{action_list}"/>
-                            <Action ID="Speak" say_text="This is correct?" param=""/>
+                            <Action ID="Speak" say_text="Here it is the reasoning for the next actions: " param="{action_list}"/>
+                            <Action ID="Speak" say_text="Is this correct?" param=""/>
                             <Action ID="DialogConfirmation"/>
                         </Sequence>
                     </RetryUntilSuccessful>