calculate_polygon_from_imu.py

../../_images/calculate_polygon_from_imu.png

What Is This

It retrieves sensor_msgs/Imu and publish perpendicular plane as polygon array.

Subscribing Topic

  • imu_data (sensor_msgs/Imu)

    Imu data. Only linear_acceleration field will be used to calculate polygon.

Publishing Topic

  • polygon_array (jsk_recognition_msgs/PolygonArray)

    Output plane polygon array.

  • model_coeffients_array (jsk_recognition_msgs/ModelCoefficientsArray)

    Normal vector of plane.

Parameters

None.

Sample

roslaunch jsk_pcl_ros sample_calculate_polygon_from_imu.launch