Snapit

../../_images/snapit.png

What Is This

This node finds the nearest plane from input pose and publish pose aligned to that plane.

Subscribing Topic

  • ~input/polygons (jsk_recognition_msgs/PolygonArray)

    Input latest plane polygon.

    This topic should be synchronized with ~input/polygon_coefficients.

  • ~input/polygon_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    This topic should be synchronized with ~input/polygons, but no data in this topic is used for now.

  • ~input/plane_align (geometry_msgs/PoseStamped)

    Input pose.

    When this topic is subscribed, ~output/plane_aligned will be published.

  • ~input/convex_align (geometry_msgs/PoseStamped)

    Input pose.

    When this topic is subscribed, ~output/convex_aligned will be published.

  • ~input/convex_align_polygon (geometry_msgs/PolygonStamped)

    Plane polygon.

    When this topic is subscribed, ~output/convex_aligned_pose_array will be published.

Publishing Topic

  • ~output/plane_aligned (geometry_msgs/PoseStamped)

    Pose aligned to nearest plane.

  • ~output/convex_aligned (geometry_msgs/PoseStamped)

    Similar to ~output/plane_aligned, but just relay ~input/convex_align when the foot of the perpendicular line is not in any of input planes.

  • ~output/convex_aligned_pose_array (geometry_msgs/PoseArray)

    Array of pose of all vertices of input polygon.

Advertising Service

  • ~align_footstep (jsk_recognition_msgs/SnapFootStep)

    Service API.

    Each pose is treated like ~input/convex_align.

Parameters

  • ~use_service (Bool, default: False)

    Whether to enable ~align_footstep.

Sample

roslaunch jsk_pcl_ros sample_snapit.launch