calculate_polygon_from_imu.py

What Is This

It retrieves sensor_msgs/Imu and publish perpendicular plane as polygon array.

Subscribing Topic

• imu_data (sensor_msgs/Imu)

  Imu data. Only linear_acceleration field will be used to calculate polygon.

Publishing Topic

• polygon_array (jsk_recognition_msgs/PolygonArray)

  Output plane polygon array.

• model_coeffients_array (jsk_recognition_msgs/ModelCoefficientsArray)

  Normal vector of plane.

Parameters

None.

Sample

roslaunch jsk_pcl_ros sample_calculate_polygon_from_imu.launch