jsk_pcl_ros_utils: sample_bounding_box_publisher_from

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00001 #!/usr/bin/env python
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()