bounding_box_array_publisher.py

What is this?

Add multiple topics of jsk_recognition_msgs/ClusterPointIndices and republish them as a topic.

Publishing Topic

• ~output (jsk_recognition_msgs/BoundingBoxArray)

  Bounding boxes in the specified frame_id.

Parameters

Required

• ~frame_id (String, required)

  Frame id of bounding boxes.

• ~boxes (Yaml, required)

  Pose and dimension of bounding boxes. It is something like below:

<rosparam>
  boxes:
    - position: [-0.22, 0.280, 0.361] # required
      rotation: [0, 0, 1.57] # optional
      dimension: [0.37, 0.248, 0.218] # required
      label: 0 # optional
    - position: [-0.22, 0, 0.361]
      dimension: [0.37, 0.306, 0.218]
</rosparam>

Optional

• ~rate (Int, default: 1)

  How many messages are published in a second.

Sample

roslaunch jsk_recognition_utils sample_bounding_box_array_publisher.launch