StaticPolygonArrayPublisher

What Is This

Publish static polygons.

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Point cloud topic whose header is used for timestamp of output topics.

• ~trigger (jsk_recognition_msgs/Int32Stamped)

  Trigger topic for publishing outputs.

Publishing Topic

• ~output_polygons (jsk_recognition_msgs/PolygonArray)

  Polygon array.

• ~output_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  Normal array of polygons.

Parameter

• ~use_periodic (Bool, default: False)

  Enable timer publishing or not.

• ~use_message (Bool, default: False)

  Enable publishing when ~input is subscribed.

• ~use_trigger (Bool, default: False)

  Enable publishing when ~input and ~trigger are synchronously subscribed.

Note that at least one of these 3 parameters must be set to true.

• ~periodic_rate (Float, default: 10.0)

  Publishing rate [Hz] used when ~use_periodic is true.

• ~frame_ids (List of String, required)

  Frame ID of each polygon.

• ~polygon_array (List of List of List of Float, required)

  Polygon array.

  Each polygon is composed of multiple (>=3) vertices, each of which is 3D point.

  Example of ~polygon_array is below.

  polygon_array:
    - [[3, 0, 0], [0, 3, 0], [0, 1, 2], [1, 0, 2]]
    - [[-1, -1, 1], [4, 3, 0], [3, 4, 0]]
  

Sample

roslaunch jsk_pcl_ros_utils sample_static_polygon_array_publisher.launch