StaticPolygonArrayPublisher¶
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.
Parameter¶
~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.polygon_array: - [[3, 0, 0], [0, 3, 0], [0, 1, 2], [1, 0, 2]] - [[-1, -1, 1], [4, 3, 0], [3, 4, 0]]
Sample¶
roslaunch jsk_pcl_ros_utils sample_static_polygon_array_publisher.launch