vision_detect_outletvision_detect_outlet action is used to detect the pose of an outlet.
Action Goalvision_detect_outlet/goal (pr2_plugs_msgs/VisionOutletDetectionGoal)
- The goal gives the camera to use, a prior pose of an outlet and a wall norm.
Action Resultvision_detect_outlet/result (pr2_plugs_msgs/VisionOutletDetectionResult)
- This returns the pose of the outlet.
Subscribed Topics<camera_name>/image_rect_color (sensor_msgs/Image)
- This subscribes to the image from the camera.
Published Topics~display_image (sensor_msgs/Image)
- Camera image marked with detected outlet holes.
- Path to the directory containing trained parameters for a particular outlet type.