pointcloud_screenpoint.l

../../_images/pointcloud_screenpoint_client.png

What Is This

This node is a service client of PointcloudScreenPoint.

Subscribing Topic

  • $(param ~sensor_topic)/screenpoint (geometry_msgs/PointStamped)

    Screen point from image_view2.

Publishing Topic

  • ray_marker_array (visualization_msgs/MarkerArray)

    Marker of touched point which can be visualized in rviz.

  • image_marker (image_view2/ImageMarker2)

    Marker of touched point which can be visualized in image_view2.

  • ray_coords (geometry_msgs/PoseStamped)

    Pose of 3D touched point.

Internally Calling Service

  • $(param ~ray_srv) (jsk_recognition_msgs/TransformScreenpoint)

    Service server.

Parameter

  • ~sensor_topic (String, required)

    Name space of subscribed topic.

    See Subscribing Topic.

  • ~ray_srv (String, required)

    Name of service server.

    See Internally Calling Service.

  • ~base_frame (String, default: base_footprint)

    Frame ID of ray_coords.

Sample

roslaunch jsk_pcl_ros sample_pointcloud_screenpoint.launch