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.


~outlet_template (string)
  • Path to the directory containing trained parameters for a particular outlet type.

Wiki: pr2_plugs_actions/vision_detect_outlet_action (last edited 2010-03-02 05:09:49 by PatrickMihelich)