This package provides publishers and subscribers that are specific to ROS.
Sources
BagReader:
type: BagReader
module: object_recognition_ros.io.source.bag_reader
parameters:
# The bag file name.
bag: data.bag
# If the cropper cell is enabled
crop_enabled: True
# The ROS topic for the depth camera info.
depth_camera_info: /camera/depth_registered/camera_info
# The ROS topic for the depth image.
depth_image_topic: /camera/depth_registered/image_raw
# The ROS topic for the RGB camera info.
rgb_camera_info: /camera/rgb/camera_info
# The ROS topic for the RGB image.
rgb_image_topic: /camera/rgb/image_color
# The maximum x value (in the camera reference frame)
x_max: 3.40282346639e+38
# The minimum x value (in the camera reference frame)
x_min: -3.40282346639e+38
# The maximum y value (in the camera reference frame)
y_max: 3.40282346639e+38
# The minimum y value (in the camera reference frame)
y_min: -3.40282346639e+38
# The maximum z value (in the camera reference frame)
z_max: 3.40282346639e+38
# The minimum z value (in the camera reference frame)
z_min: -3.40282346639e+38
RosKinect:
type: RosKinect
module: object_recognition_ros.io.source.ros_kinect
parameters:
# If the cropper cell is enabled
crop_enabled: True
# The ROS topic for the depth camera info.
depth_camera_info: /camera/depth_registered/camera_info
# The ROS topic for the depth image.
depth_image_topic: /camera/depth_registered/image_raw
# The ROS topic for the RGB camera info.
rgb_camera_info: /camera/rgb/camera_info
# The ROS topic for the RGB image.
rgb_image_topic: /camera/rgb/image_color
# The maximum x value (in the camera reference frame)
x_max: 3.40282346639e+38
# The minimum x value (in the camera reference frame)
x_min: -3.40282346639e+38
# The maximum y value (in the camera reference frame)
y_max: 3.40282346639e+38
# The minimum y value (in the camera reference frame)
y_min: -3.40282346639e+38
# The maximum z value (in the camera reference frame)
z_max: 3.40282346639e+38
# The minimum z value (in the camera reference frame)
z_min: -3.40282346639e+38
Sinks
Publisher:
type: Publisher
module: object_recognition_ros.io.sink.publisher
parameters:
# The DB parameters
db_params: <object_recognition_core.boost.interface.ObjectDbParameters object at 0x2b06a9074418>
# Determines if the topics will be latched.
latched: True
# The ROS topic to use for the marker array.
markers_topic: markers
# The ROS topic to use for the object meta info string
object_ids_topic: object_ids
# The ROS topic to use for the pose array.
pose_topic: poses
# Sets whether the point cloud clusters have to be published or not
publish_clusters: True
# The ROS topic to use for the recognized object
recognized_object_array_topic: recognized_object_array