pointcloud_screenpoint.l¶
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