Snapit¶
What Is This¶
This node finds the nearest plane from input pose and publish pose aligned to that plane.
Subscribing Topic¶
~input/polygons
(jsk_recognition_msgs/PolygonArray
)Input latest plane polygon.
This topic should be synchronized with
~input/polygon_coefficients
.~input/polygon_coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)This topic should be synchronized with
~input/polygons
, but no data in this topic is used for now.~input/plane_align
(geometry_msgs/PoseStamped
)Input pose.
When this topic is subscribed,
~output/plane_aligned
will be published.~input/convex_align
(geometry_msgs/PoseStamped
)Input pose.
When this topic is subscribed,
~output/convex_aligned
will be published.~input/convex_align_polygon
(geometry_msgs/PolygonStamped
)Plane polygon.
When this topic is subscribed,
~output/convex_aligned_pose_array
will be published.
Publishing Topic¶
~output/plane_aligned
(geometry_msgs/PoseStamped
)Pose aligned to nearest plane.
~output/convex_aligned
(geometry_msgs/PoseStamped
)Similar to
~output/plane_aligned
, but just relay~input/convex_align
when the foot of the perpendicular line is not in any of input planes.~output/convex_aligned_pose_array
(geometry_msgs/PoseArray
)Array of pose of all vertices of input polygon.
Advertising Service¶
~align_footstep
(jsk_recognition_msgs/SnapFootStep
)Service API.
Each pose is treated like
~input/convex_align
.
Parameters¶
~use_service
(Bool, default:False
)Whether to enable
~align_footstep
.
Sample¶
roslaunch jsk_pcl_ros sample_snapit.launch