Region Detection Rclcpp

Summary

This package contains ROS2 nodes that make the functionality in the region_detection_core package available to a ROS2 environment.

Nodes

region_detector_server:

Detects contours from 2d images and 3d point clouds

• Parameters:
  • region_detection_cfg_file: absolute path the the config file
• Services
  • detect_regions: service that detects the contours of the regions found in the input images and point clouds.
• Publications:
  • detected_regions: Marker arrays that help visualize the detected regions

interactive_region_selection

Shows the region contours as clickable interactive markers in Rviz

• Parameters:
  • region_height: the height of each region shown
• Services:
  • show_selectable_regions: Shows the specified regions as clickable markers in rviz
  • get_selected_regions: Returns the indices of the regions that are currently selected

crop_data_server

Crops data using the region contours as a boundary

• Parameters:
  • region_crop: absolute path to the configuration file containing the configuration parameters
• Services:
  • crop_data: crops the data that falls outside the region contour.