SelectedClusterPublisher¶
What Is This¶
Extract specified point cloud from input point cloud and clusters.
This feature provides functionality which is similar to the combination of jsk_pcl_ros_utils/ClusterPointIndicesToPointIndices
+ jsk_pcl_ros/ExtractIndices
.
The former (this node) subscribes a topic for specifying index, and the latter gets paramater.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input point cloud from which specified part will be extracted.
~indices
(jsk_recognition_msgs/ClusterPointIndices
)Input cluster indices.
~selected_index
(jsk_recognition_msgs/Int32Stamped
)Index of cluster indices used for extraction.
Publishing Topic¶
~output
(sensor_msgs/PointCloud2
)Selected part of input point cloud.
Parameter¶
~keep_organized
(Bool, default:False
)Whether to keep organized for output point cloud.
Sample¶
roslaunch jsk_pcl_ros sample_selected_cluster_publisher.launch