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vision_detect_outlet

vision_detect_outlet action is used to detect the pose of an outlet.

Action Goal

vision_detect_outlet/goal (pr2_plugs_msgs/VisionOutletDetectionGoal)

• The goal gives the camera to use, a prior pose of an outlet and a wall norm.

Action Result

vision_detect_outlet/result (pr2_plugs_msgs/VisionOutletDetectionResult)

• This returns the pose of the outlet.

Subscribed Topics

<camera_name>/image_rect_color (sensor_msgs/Image)

• This subscribes to the image from the camera.

Published Topics

~display_image (sensor_msgs/Image)

• Camera image marked with detected outlet holes.

Parameters

~outlet_template (string)

• Path to the directory containing trained parameters for a particular outlet type.