Clopema perception launch (Repository)

  • Maintainer: Libor Wagner

Cloning the repository:

git clone git@clopema.felk.cvut.cz:clopema_perception_launch.git

Description

This repository contains launch files for perception packages.

openni.launch

openni.launch file and openni_*.launch are copied from openni_launch package and modified to accept machine as a parameter. This allow us to run openni drivers on remote machine such as kinect1.

xtion[1,2].launch

workspace_extraction_pipeline.launch

WORKSPACE EXTRACTION PIPELINE

DESCRIPTION

As input takes a unprocessed point cloud and returns only that what is inside
workspace box. It is done by series of PlaneCut nodelets.

PARAMETERS

    input_topic  : An input topic, where the unprocessed point cloud is expected.
    output_topic : An output topic, where the workspace points should go.
    run_manager  : If set to true an separate nodelet manager is started.
    manager      : A name of the nodelet manager manager which is used.
    machine      : Machine used to execute the pipeline nodes, only used if
                   run_manager is set to true.

cloth_segmentation_pipeline.launch

CLOTH SEGMENTATION PIPELINE

DESCRIPTION

A cloth segmentation pipeline takes an point cloud of the table and the cloth
laying on it. The output is a point cloud of the cloth only.

First, a dominate plane is detected and the plane indices are used to compute
convex hull. Second, the convex hull is used to get point on the table, these
points are then clustered and the largest cluster is returned as a output.

ARGUMENTS

    input_topic  : Topic on which the input cloud is published
    output_topic : Topic on which the output cloud should be published
    manager      : Nodelet manager name
    run_manager  : If set to true the new manager with the given name will be
                   started

Pipeline template

<?xml version="1.0"?>
<!--
PIPELINE TEMPLATE

DESCRIPTION

This is a template for pipeline launch files.

PARAMETERS

    input_topic  : An input topic, where the unprocessed point cloud is expected.
    output_topic : An output topic, where the workspace points should go.
    run_manager  : If set to true an separate nodelet manager is started.
    manager      : A name of the nodelet manager manager which is used.
    machine      : Machine used to execute the pipeline nodes, only used if
                   run_manager is set to true.

-->
<launch>
    <arg name="input_topic"  default="input" />
    <arg name="output_topic" default="output" />
    <arg name="run_manager"  default="false" />
    <arg name="manager"      default="manager" />
    <arg name="machine"      default="master" />

</launch>