Only released in EOL distros:
3d_interaction: blob3d | external_camera_localizer | projected_lightswitch_interface | projector_calibration | projector_interface | rcommander_interface | world_intersect
Package Summary
Documented
Nodes for intersecting rays with various types of world models.
- Author: Daniel Lazewatsky
- License: BSD
- Source: git https://github.com/OSUrobotics/ros-3d-interaction.git (branch: groovy-devel)
Contents
Nodes
mouse_click
Captures X click events and publishes them as clicksPublished Topics
click (std_msgs/Empty)- Published clicks. Note that click location is ignored.
world_intersect
Intersects a ray, represented as a pose with a point cloud.Subscribed Topics
cloud (sensor_msgs/PointCloud2)- The input pointcloud to be intersected with
- A pose reprenting the pointing vector.
Published Topics
intersected_points (invalid message type for MsgLink(msg/type))- All points in the input cloud which are intersected by the pointing vector, as a PointCloud
- All points in the input cloud which are intersected by the pointing vector, as a PointCloud2
- The single intersected point that is closest to the origin of the pointing vector.
Parameters
vector_frame (string)- Defaults to std::string("intersected_vector")
- Defaults to 0.02
- Ignore points in the input cloud closer to the pointing vector origin than this.
intersect_plane
Find a ray-plane intersection.Subscribed Topics
pose (geometry_msgs/PoseStamped)- A pose reprenting the pointing vector.
Published Topics
intersected_points (sensor_msgs/PointCloud2)- All points in the input cloud which are intersected by the pointing vector. This will only ever contain one point.
Parameters
~plane_frame (string)- The tf frame representing the plane to be intersected. The planes normal should be in the z direction.
