pr2-setting.l : read pr2 robot for display-tf-bounding-box-array.l, requiring pr2eus.
Note that when getting the base->cam-coords, we use lookup-transform .
This is because we expect base->cam-coordsis dynamic.
If your base->cam-coords is static, use (setq base->cam-coords (send (send *YOUR_EUS_MODEL* :YOUR_CAMERA_FRAME) :copy-worldcoords)))) instead.
TODO: make a sample for display-bounding-box-array.l with another PR.
708yamaguchi
commented
2 years ago
Add sample scripts which subscribe BoundingBoxArray and convert it to world coordinates.
You can quickly try this by launching
sample_hsi_color_filter.launch.sample_hsi_color_filter.launch: launchhsi_color_filter.launch+pr2-setting.l+display-tf-bounding-box-array.ldisplay-tf-bounding-box-array.l: main file (This is an extention of https://github.com/jsk-ros-pkg/jsk_roseus/blob/b8a4ba68aecfdcad8eacb836c2f6efe93c858d88/roseus_tutorials/src/display-bounding-box-array.l.)pr2-setting.l: read pr2 robot fordisplay-tf-bounding-box-array.l, requiringpr2eus.Note that when getting the
base->cam-coords, we uselookup-transform. This is because we expectbase->cam-coordsis dynamic. If yourbase->cam-coordsis static, use(setq base->cam-coords (send (send *YOUR_EUS_MODEL* :YOUR_CAMERA_FRAME) :copy-worldcoords))))instead.TODO: make a sample for display-bounding-box-array.l with another PR.