SelectedClusterPublisher¶

What Is This¶

../../_images/selected_cluster_publisher.png

Extract specified point cloud from input point cloud and clusters.

This feature provides functionality which is similar to the combination of jsk_pcl_ros_utils/ClusterPointIndicesToPointIndices + jsk_pcl_ros/ExtractIndices.

The former (this node) subscribes a topic for specifying index, and the latter gets paramater.

Subscribing Topic¶

~input (sensor_msgs/PointCloud2)

Input point cloud from which specified part will be extracted.
~indices (jsk_recognition_msgs/ClusterPointIndices)

Input cluster indices.
~selected_index (jsk_recognition_msgs/Int32Stamped)

Index of cluster indices used for extraction.

Publishing Topic¶

~output (sensor_msgs/PointCloud2)

Selected part of input point cloud.

Parameter¶

~keep_organized (Bool, default: False)

Whether to keep organized for output point cloud.

Sample¶

roslaunch jsk_pcl_ros sample_selected_cluster_publisher.launch