CentroidPublisher¶
What Is This¶
This nodelet will subscribe the sensor_msgs::PointCloud2 or jsk_recognition_msgs/PolygonArray and calculate its centroid.
This also broadcasts coodinates of cloud or each polygons as tf
whose parent is cloud headers frame_id and whose child is the new centroid frame_id.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
):Input pointcloud.
~input/polygons
(jsk_recognition_msgs/PolygonArray
):Input polygon.
Publishing Topics¶
/tf
Publish tf of the centroid of the input pointcloud.
~output/pose
(geometry_msgs/PoseStamped
)Centroid of the pointcloud as
geometry_msgs/PoseStamped
.~output/point
(geometry_msgs/PointStamped
)Centroid of the pointcloud as
geometry_msgs/PointStamped
.~output/pose_array
(geometry_msgs/PoseArray
)Centroid poses of each polygons.
Parameters¶
~frame
(String, default: node name):A frame_id for centroid tf. For polygon array, suffix numbers are appended. (e.g.
frame00
)~publish_tf
(Boolean, default:False
) Set this parameter toTrue
in order to publish tf frame. The invalid centroid is filtered and tf is not published in that case. Note that if this option isTrue
, input topics are always subscribed.
Sample¶
roslaunch jsk_pcl_ros_utils sample_centroid_publisher.launch