What Is This


Publish static polygons.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Point cloud topic whose header is used for timestamp of output topics.

  • ~trigger (jsk_recognition_msgs/Int32Stamped)

    Trigger topic for publishing outputs.

Publishing Topic

  • ~output_polygons (jsk_recognition_msgs/PolygonArray)

    Polygon array.

  • ~output_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Normal array of polygons.


  • ~use_periodic (Bool, default: False)

    Enable timer publishing or not.

  • ~use_message (Bool, default: False)

    Enable publishing when ~input is subscribed.

  • ~use_trigger (Bool, default: False)

    Enable publishing when ~input and ~trigger are synchronously subscribed.

Note that at least one of these 3 parameters must be set to true.

  • ~periodic_rate (Float, default: 10.0)

    Publishing rate [Hz] used when ~use_periodic is true.

  • ~frame_ids (List of String, required)

    Frame ID of each polygon.

  • ~polygon_array (List of List of List of Float, required)

    Polygon array.

    Each polygon is composed of multiple (>=3) vertices, each of which is 3D point.

    Example of ~polygon_array is below.

      - [[3, 0, 0], [0, 3, 0], [0, 1, 2], [1, 0, 2]]
      - [[-1, -1, 1], [4, 3, 0], [3, 4, 0]]


roslaunch jsk_pcl_ros_utils sample_static_polygon_array_publisher.launch