Go to the documentation of this file.00001
00002
00003 from jsk_recognition_msgs.msg import BoundingBox
00004 import rospy
00005 from sensor_msgs.msg import PointCloud2
00006
00007
00008 def cb(msg):
00009 out_msg = BoundingBox()
00010 out_msg.header.stamp = msg.header.stamp
00011 out_msg.header.frame_id = rospy.get_param('~frame_id', 'map')
00012 out_msg.pose.position.x = 0
00013 out_msg.pose.position.y = 0
00014 out_msg.pose.position.z = 0
00015 out_msg.pose.orientation.x = 0
00016 out_msg.pose.orientation.y = 0
00017 out_msg.pose.orientation.z = 0
00018 out_msg.pose.orientation.w = 1
00019 out_msg.dimensions.x = 0.3
00020 out_msg.dimensions.y = 0.3
00021 out_msg.dimensions.z = 0.3
00022 pub.publish(out_msg)
00023
00024
00025 if __name__ == '__main__':
00026 rospy.init_node('sample_cluster_indices_publisher_from_polygons')
00027 pub = rospy.Publisher('~output', BoundingBox, queue_size=1)
00028 sub = rospy.Subscriber('~input', PointCloud2, cb, queue_size=1)
00029 rospy.spin()