objectdetection_tf_publisher

../../_images/objectdetection_tf_publisher.png

What is this?

Subscrive posedetection_msgs/ObjectDetection message and broadcast TF.

Subscribing Topics

  • ObjectDetection (posedetection_msgs/ObjectDetection)

    Input object pose.

Publishing Topics

  • /tf (tf2_msgs/TFMessage)

    Object transform.

Parameters

  • ~use_simple_tf (Bool, default: False)

    Whether to use tf.TransformBroadcaster or not. If false, this node will use dynamic_tf_publisher

Parameters below will be enabled only when ~use_simple_tf is False.

  • ~checker_board_params/header_frame (String, required)

    Parent frame ID.

  • ~frame_id (String, default: object)

    Child frame ID.

  • ~checker_board_params/position_x (Float, default: 0.0)

  • ~checker_board_params/position_y (Float, default: 0.0)

  • ~checker_board_params/position_z (Float, default: 0.0)

  • ~checker_board_params/orientation_x (Float, default: 0.0)

  • ~checker_board_params/orientation_y (Float, default: 0.0)

  • ~checker_board_params/orientation_z (Float, default: 0.0)

  • ~checker_board_params/orientation_w (Float, default: 0.0)

    Object pose.

Sample

roslaunch checkerboard_detector sample_objectdetection_tf_publisher.launch