This script calls the RequestData action to get the latest point cloud. Primitives are then searched and fitted to the point cloud using the FitPrimitive action and published as an RViz markerArray under the /primitive_markers topic. In this sample node the primitives are planes.

Parameters

~parameter_set (string, default: "fit_primitive")

• The name of the parameter set that is used for capturing the images and calculating the point cloud.

• A timeout in seconds for waiting for the camera node to become available.

• The rate at which planes and point clouds are published.

• Specifies the tolerated failure probability for the RANSAC procedure.

• Specifies the guessed a priori inlier fraction of the primitives, i.e. the percentage of points expected to be on the primitive.

• Specifies the threshold in meters to judge if a point is an inlier.

• Specifies the number of iterations to be taken by the RANSAC algorithm. If the number of iterations is specified directly the inlier_fraction and failure_probability parameters will be ignored.

Published Topics

primitive_markers (visualization_msgs/MarkerArray)

• Markers for the found planes in the point cloud.