RobotToMaskImage¶
Convert robot model into mask image.
Subscribing Topic¶
~input/camera_info
(sensor_msgs/CameraInfo
)Input camera info to project 3-D polygon.
Publishing Topic¶
~output
(sensor_msgs/Image
)Mask image to fill
~input
polygon.The size of the output image will be resized to fit the
roi
andbinnning
.~output/info
(sensor_msgs/CameraInfo
)CameraInfo
for the output image.
Parameters¶
~max_robot_dist
(Double, default:10
)Maximum distance of robot from camera.
Distance is in z-axis direction of the camera coordinates.
robot_description
(String, required)robot_description of the mask-generated robot.
~self_see_default_padding
(Double, default:0.001
)Same as the parameter in pr2_navigation_self_filter. Padding of robot link for mask generation.
~self_see_default_scale
(Double, default:1.0
)Same as the parameter in pr2_navigation_self_filter. Scale of robot link for mask generation.
~self_see_links
(Array of link configuration, required)Same as the parameter in pr2_navigation_self_filter. Configuration of links for mask generation. Link configuratin consists of name (required), padding (optional), and scale (optional).
Samples¶
roslaunch jsk_perception sample_robot_to_mask_image.launch