objectdetection_tf_publisher

What is this?

Subscrive posedetection_msgs/ObjectDetection message and broadcast TF.

Subscribing Topics

• ObjectDetection (posedetection_msgs/ObjectDetection)

  Input object pose.

Publishing Topics

• /tf (tf2_msgs/TFMessage)

  Object transform.

Parameters

• ~use_simple_tf (Bool, default: False)

  Whether to use tf.TransformBroadcaster or not. If false, this node will use dynamic_tf_publisher

Parameters below will be enabled only when ~use_simple_tf is False.

• ~checker_board_params/header_frame (String, required)

  Parent frame ID.

• ~frame_id (String, default: object)

  Child frame ID.

• ~checker_board_params/position_x (Float, default: 0.0)

• ~checker_board_params/position_y (Float, default: 0.0)

• ~checker_board_params/position_z (Float, default: 0.0)

• ~checker_board_params/orientation_x (Float, default: 0.0)

• ~checker_board_params/orientation_y (Float, default: 0.0)

• ~checker_board_params/orientation_z (Float, default: 0.0)

• ~checker_board_params/orientation_w (Float, default: 0.0)

  Object pose.

Sample

roslaunch checkerboard_detector sample_objectdetection_tf_publisher.launch