RobotToMaskImage

Convert robot model into mask image.

Subscribing Topic

  • ~input/camera_info (sensor_msgs/CameraInfo)

    Input camera info to project 3-D polygon.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Mask image to fill ~input polygon.

Parameters

  • ~max_robot_dist (Doble, default: 10)

Maximum distance of robot from camera. Distance is in z-axis direction of the camera coordinates.

  • robot_description (String, required)

    robot_description of the mask-generated robot.

  • ~self_see_default_padding (Double, default: 0.001)

    Same as the parameter in pr2_navigation_self_filter. Padding of robot link for mask generation.

  • ~self_see_default_scale (Double, default: 1.0)

    Same as the parameter in pr2_navigation_self_filter. Scale of robot link for mask generation.

  • ~self_see_links (Array of link configuration, required)

    Same as the parameter in pr2_navigation_self_filter. Configuration of links for mask generation. Link configuratin consists of name (required), padding (optional), and scale (optional).

Samples

Simple cube

Launch gazebo and kinect simulation.

roslaunch hrpsys_gazebo_tutorials gazebo_kinect_cube_interactive.launch

Run the mask generation node.

roslaunch jsk_perception robot_to_mask_image.launch

HRP2

Launch gazebo and robot simulation.

roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsk_no_controllers.launch
rtmlaunch hrpsys_gazebo_tutorials hrp2jsk_hrpsys_bringup.launch

Run the mask generation node.

roslaunch jsk_perception robot_to_mask_image_hrp2.launch