transformable_markers_client.py

transformable_markers_client.py has features below:

  • Insert markers to transformable_server_sample
  • Auto save of user interaction of the markers
  • Publish topics of reusable msgs after conversion from the markers (ex. BOX -> BoundingBox)

Parameters

  • ~config_file (String, requried)

    Config file to insert markers, and auto save the interaction. The format is like below:

boxes:
- name: box_a                        # (requried)
  frame_id: map                      # (optional, default: /map)
  dimensions: [0.09, 0.13, 0.15]     # (optional, default: [1, 1, 1])
  position: [1, 0, 0]                # (optional, default: [0, 0, 0, 1])
  orientation: [0.0, 0.0, 0.0, 1.0]  # (optional, default: [0, 0, 1])
...
  • ~config_auto_save (Bool, default: True)

    Enable the feature to save the config automatically.

Required ROS name

  • ~server

    Node name of transformable_server_sample server.

Publishing Topics

  • ~output/boxes (jsk_recognition_msgs/BoundingBoxArray)

    Converted boxes from marker: BOX -> BoundingBox.

Sample

roslaunch jsk_interactive_marker sample_transformable_markers_client.launch