AntoineH/BaxterInterface
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Ajout accès objet depuis launch file (plannar seg)

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Unknown 2018-08-10 11:48:56 +02:00
parent 9dddc9ba23
commit 1c72d90e9a
4 changed files with 19 additions and 2 deletions
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2
pcl_tests/src/plannar_segmentation.cpp
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@ -134,7 +134,7 @@ int main (int argc, char** argv)
// Create a ROS publisher for the output point cloud // Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("/plane_output", 1); pub = nh.advertise<sensor_msgs::PointCloud2> ("/plane_output", 1);
// pubc = nh.advertise<geometry_msgs::PointStamped> ("/object_center", 1); // pubc = nh.advertise<geometry_msgs::PointStamped> ("/object_center", 1);
pubc = nh.advertise<rviz_interface::NamedPoint> ("/object_center", 1); pubc = nh.advertise<rviz_interface::NamedPoint> ("/RvizInterface/object_center", 1);
// printinfo(); // printinfo();
// Spin // Spin

6
rviz_interface/rviz_interface/launch/interface_plannar_seg.launch
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@ -1,5 +1,11 @@
<launch> <launch>
<node name="rviz" pkg="rviz" type="rviz"/> <node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<rosparam param="tracked_object_names"> ["6DOF"]</rosparam>
<rosparam param="tracked_object_types"> [0]</rosparam>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/> <node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
<node name="plannar_seg" pkg="pcl_tests" type="plannar_seg"/> <node name="plannar_seg" pkg="pcl_tests" type="plannar_seg"/>
</launch> </launch>

11
rviz_interface/rviz_interface/launch/interface_plannar_seg.launch~ Normal file
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@ -0,0 +1,11 @@
<launch>
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<rosparam param="tracked_object_names"> ["6DOF"]</rosparam>
<rosparam param="tracked_object_types"> [0]</rosparam>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
<node name="plannar_seg" pkg="pcl_tests" type="plannar_seg"/>
</launch>

2
rviz_interface/rviz_interface/src/RvizInterface.cpp
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@ -18,7 +18,7 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
_n.param<std::string>("objective_topic", objective_topic,"/RvizInterface/state_objective"); _n.param<std::string>("objective_topic", objective_topic,"/RvizInterface/state_objective");
_n.param<std::string>("vizualization_topic", vizualization_topic,"/RvizInterface/visual_marker"); _n.param<std::string>("vizualization_topic", vizualization_topic,"/RvizInterface/visual_marker");
_n.param<std::string>("config_topic", config_topic,"/RvizInterface/interface_config"); _n.param<std::string>("config_topic", config_topic,"/RvizInterface/interface_config");
_n.param<std::string>("object_center_topic", position_topic,"/ASIFT_matcher/object_center"); _n.param<std::string>("object_center_topic", position_topic,"/RvizInterface/object_center");
//Topic you want to publish //Topic you want to publish
_objective_pub = _n.advertise<rviz_interface::StateSpace>(objective_topic, 10); _objective_pub = _n.advertise<rviz_interface::StateSpace>(objective_topic, 10);