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Only released in EOL distros:  

camera_self_filter

rosrun camera_self_filter image_view image:=/wide_stereo/left/image_rect_color_alpha_masked

attachment:overlayed_image.jpg

rosrun image_view image_view image:=/wide_stereo/left/self_mask

attachment:mask.jpg

launch

Example launch file:

<node pkg="camera_self_filter" type="camera_self_filter"  
 name="camera_self_filter_wide_stereo_left" output="screen">
   <param name="camera_frame" type="string" value="wide_stereo_optical_frame" />
   <param name="camera_topic" type="string" value="/wide_stereo/left" />
   <param name="publish_mask" type="bool" value="true" />
   <param name="publish_alpha" type="bool" value="true" />
   <param name="inverted" type="bool" value="false" />
   <param name="robot_description_package_path" type="string" 
     value="$(find pr2_description)" />
                
</node>

Note that the camera_self_filter node expects the robot urdf on the parameter server. If has not been loaded automatically (for instance when replaying a .bag file), set the "robot_description" parameter manually (e.g. run "cat robot.urdf | xargs rosparam set robot_description").


2019-11-30 12:33