speak_when_label_found.py¶
What is this?¶

The speak means:
Speak with sound_play.
Publish
std_msgs/String
message.Publish
jsk_gui_msgs/SlackMessage
.
And this node speaks if target labels are found in input label image.
Subscribing Topic¶
~input/label
(sensor_msgs/Image
)Label image to find target labels.
~input/image
(sensor_msgs/Image
)Raw image which is used to speak with
jsk_gui_msgs/SlackMessage
.
Publishing Topic¶
~output/string
(std_msgs/String
)Output message with string.
~output/slack_msg
(jsk_gui_msgs/SlackMessage
)Output message to post to slack. This node can be easily integrated with jsk_tools/post_to_slack_server.
Parameters¶
~label_names
(List of String, required)The name of labels.
~target_labels
(List of Int, required if~target_label_names
is not specified)~target_label_names
(List of String, required if~target_labels
is not specified)Target label.
~sound
(Bool, default:true
)Flag of using sound_play.
~min_label_region
(Float, default:0.1
)Threshold of label region to recognize as label is detected.
~approximate_sync
(Bool, default:False
)Whether to use approximate for input topics.
~queue_size
(Int, default:10
)How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.
~slop
(Float, default:0.1
)How many seconds you allow about the difference of timestamp when you specify
~approximate_sync
.
Sample¶
roslaunch jsk_perception sample_speak_when_label_found.launch