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.