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Only released in EOL distros:  


The easiest way to run the interface is alongside the projector calibration node. This can be done with

roslaunch projector_interface calibrate_and_circle.launch

This will start both the calibration node and interface node. The interface node will wait to display anything until a homography is available on the /homography parameter. After calibration, the calibration node will exit.

At this point the interface node is ready to display the cursor, object circles, and any polygons sent to it using the projector_interface/DrawPolygon service.



Responsible for drawing the interface and dispatching click notifications if any objects in the interface have been clicked

Subscribed Topics

object_cloud (sensor_msgs/PointCloud2) click (std_msgs/Empty) intersected_points (sensor_msgs/PointCloud2) intersected_points_cursor (sensor_msgs/PointCloud2) camera_info (sensor_msgs/CameraInfo)

Published Topics

selected_point (geometry_msgs/PointStamped) rate (std_msgs/Empty) click_stats (sensor_msgs/PointCloud2) clicked_object (std_msgs/String)


hilight_object (projector_interface/HilightObject) clear_hilights (projector_interface/ClearHilights) get_cursor_stats (projector_interface/GetCursorStats) set_selection_method (projector_interface/SetSelectionMethod) draw_polygon (projector_interface/DrawPolygon) clear_polygons (projector_interface/ClearPolygons)


/homography (string) ~flip (string) ~window_size (string) ~circle_objects (string)


Takes a button press from a joystick and publishes a click. After a button press has been detected, won't publish another click for 1 second.

Subscribed Topics

joy (sensor_msgs/Joy)

Published Topics

click (std_msgs/Empty)


Calls the tabletop object detector and publishes a cloud of detected object centers.

Published Topics

object_cloud (sensor_msgs/PointCloud2) table (tabletop_object_detector/Table)


~detect_rate (float)


Goes between object_circler and PR2's object manipulation capabilities.

Subscribed Topics

click (std_msgs/Empty) intersected_points (sensor_msgs/PointCloud2)

Published Topics

place_pose (geometry_msgs/PoseStamped)

2020-03-28 13:01