PoseWithCovarianceStampedToGaussianPointCloud

Visualize geometry_msgs/PoseWithCovarianceStamped as gaussian pointcloud. Pointcloud is computed within a region of 3 sigma.

Subscribing Topics

• ~input (geometry_msgs/PoseWithCovarianceStamped)

  Input pose

Publishing Topics

• ~output (sensor_msgs/PointCloud2)

  Output pointcloud

Parameters

• ~cut_plane (String, default: xy)

  You can choose a plane to compute gaussian distribution from xy, yz, zx, flipped_xy, flipped_yz or flipped_zx.

• ~sampling_num (Int, default: 100)

  The number of sampling for each axis. The number of points will square of ~sampling_num.

• ~normalize_method (String, default: normalize_area)

• ~normalize_value (Float, default: 1.0)

  You can choose normalize_area or normalize_height as a method to normalize gaussian distribution.

  If you choose normalize_area, area of gaussian distribution will be ~normalize_value.

  If you choose normalize_height, the maximum height of gaussian distribution will be ~normalize_value.

Sample

roslaunch jsk_pcl_ros_utils sample_pose_with_covariance_stamped_to_gaussian_pointcloud.launch