publish_clicked_point_bbox.py¶

../../_images/publish_clicked_point_bbox.png

What Is This¶

This node subscribes geometry_msgs/PointStamped message and publishes jsk_recognition_msgs/BoundingBoxArray at that point.

Subscribing Topic¶

clicked_point (geometry_msgs/PointStamped)

Input point whose position is used for bounding box.

Publishing Topic¶

bbox_with_clicked_point (jsk_recognition_msgs/BoundingBoxArray)

Output bounding box array.

Dimensions of the box is set to 1 [m] and frame ID is set to odom.

So the transformation between clicked_point/header/frame_id and odom should be resolvable.

Sample¶

roslaunch jsk_pcl_ros sample_publish_clicked_point_bbox.launch