What Is This

This node subscribes geometry_msgs/PointStamped message and publishes jsk_recognition_msgs/BoundingBoxArray at that point.

Subscribing Topic

  • clicked_point (geometry_msgs/PointStamped)

    Input point whose position is used for bounding box.

Publishing Topic

  • bbox_with_clicked_point (jsk_recognition_msgs/BoundingBoxArray)

    Output bounding box array.

    Dimensions of the box is set to 1 [m] and frame ID is set to odom.

    So the transformation between clicked_point/header/frame_id and odom should be resolvable.


roslaunch jsk_pcl_ros sample_publish_clicked_point_bbox.launch