polygon_array_publisher.py

What is this?

Get polygons as rosparam and publish them as jsk_recognition_msgs/PolygonArray.

Publishing Topic

• ~output (jsk_recognition_msgs/PolygonArray)

  Output polygons.

• ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  Output coefficients. This topic will be published if ~publish_coeffs is True and each polygon is in planar.

Parameters

• ~polygons (List, required)

  List of polygon.

  Each polygon must have points field, which is a list of vertices.

  You can also fill label and likelihood field for each polygon.

• ~frame_id (String, required)

  Frame ID of polygons.

• ~publish_rate (Float, default: 1.0)

  Publish rate [Hz].

• ~publish_coeffs (Bool, default: False)

  If this value is true and each polygon is in planar, publish jsk_recognition_msgs/ModelCoefficientsArray.

Example parameters are below.

<rosparam>
  frame_id: base_link
  publish_coeffs: true
  polygons:
  - points:
    - [1.0, -1.0, 0.0]
    - [2.0, -1.0, 0.0]
    - [2.0,  1.0, 0.0]
    - [1.0,  1.0, 0.0]
    label: 1
    likelihood: 0.8
  - points:
    - [1.0, -1.0, 0.5]
    - [2.0, -1.0, 0.5]
    - [2.0,  1.0, 0.5]
    - [1.0,  1.0, 0.5]
    label: 2
    likelihood: 0.6
</rosparam>

Sample

roslaunch jsk_recognition_utils sample_polygon_array_publisher.launch