objectdetection_tf_publisher¶
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