jsk_pcl_ros¶

Service types¶

• jsk_pcl_ros/UpdateOffset
• jsk_pcl_ros/CheckCollision
• jsk_pcl_ros/EuclideanSegment
• jsk_pcl_ros/SnapFootstep
• jsk_pcl_ros/ICPAlignWithBox
• jsk_pcl_ros/ICPAlign
• jsk_pcl_ros/SetDepthCalibrationParameter
• jsk_pcl_ros/TowerPickUp
• jsk_pcl_ros/CallPolygon
• jsk_pcl_ros/CheckCircle
• jsk_pcl_ros/TransformScreenpoint
• jsk_pcl_ros/PolygonOnEnvironment
• jsk_pcl_ros/EnvironmentLock
• jsk_pcl_ros/CallSnapIt
• jsk_pcl_ros/RobotPickupReleasePoint
• jsk_pcl_ros/SwitchTopic
• jsk_pcl_ros/TowerRobotMoveCommand

jsk_pcl_ros/UpdateOffset¶

Field (Request):
	transformation (geometry_msgs/TransformStamped) –

UpdatePose.srv This service is designed to specify localization transformation manually

# UpdatePose.srv
# This service is designed to specify localization
# transformation manually
geometry_msgs/TransformStamped transformation
---

jsk_pcl_ros/CheckCollision¶

Field (Request):
	joint (sensor_msgs/JointState) – pose (geometry_msgs/PoseStamped) –
Field (Response):
	result (bool) –

sensor_msgs/JointState joint
geometry_msgs/PoseStamped pose
---
bool result

jsk_pcl_ros/EuclideanSegment¶

Field (Request):
	input (sensor_msgs/PointCloud2) – tolerance (float32) –
Field (Response):
	output[] (sensor_msgs/PointCloud2) –

sensor_msgs/PointCloud2 input
float32 tolerance
---
sensor_msgs/PointCloud2[] output

jsk_pcl_ros/SnapFootstep¶

Field (Request):
	input (jsk_footstep_msgs/FootstepArray) –
Field (Response):
	output (jsk_footstep_msgs/FootstepArray) –

jsk_footstep_msgs/FootstepArray input
---
jsk_footstep_msgs/FootstepArray output

jsk_pcl_ros/ICPAlignWithBox¶

Field (Request):
	target_cloud (sensor_msgs/PointCloud2) – target_box (jsk_recognition_msgs/BoundingBox) –
Field (Response):
	result (jsk_recognition_msgs/ICPResult) –

sensor_msgs/PointCloud2 target_cloud
jsk_recognition_msgs/BoundingBox target_box
---
jsk_recognition_msgs/ICPResult result

jsk_pcl_ros/ICPAlign¶

Field (Request):
	reference_cloud (sensor_msgs/PointCloud2) – target_cloud (sensor_msgs/PointCloud2) –
Field (Response):
	result (jsk_recognition_msgs/ICPResult) –

sensor_msgs/PointCloud2 reference_cloud
sensor_msgs/PointCloud2 target_cloud
---
jsk_recognition_msgs/ICPResult result

jsk_pcl_ros/SetDepthCalibrationParameter¶

Field (Request):
	parameter (jsk_recognition_msgs/DepthCalibrationParameter) –

jsk_recognition_msgs/DepthCalibrationParameter parameter
---

jsk_pcl_ros/TowerPickUp¶

Field (Request):
	tower_index (int32) –

int32 tower_index
---

jsk_pcl_ros/CallPolygon¶

Field (Request):
	filename (string) –
Field (Response):
	points (geometry_msgs/PolygonStamped) –

string filename
---
geometry_msgs/PolygonStamped points

jsk_pcl_ros/CheckCircle¶

Field (Request):
	point (geometry_msgs/Point) –
Field (Response):
	clicked (bool) – index (int32) – msg (string) –

geometry_msgs/Point point
---
bool clicked
int32 index
string msg

jsk_pcl_ros/TransformScreenpoint¶

Field (Request):
	x (float32) – y (float32) –
Field (Response):
	header (std_msgs/Header) – point (geometry_msgs/Point) – vector (geometry_msgs/Vector3) –

screen point

# screen point
float32 x
float32 y
---
# position in actual world
std_msgs/Header header
geometry_msgs/Point point
geometry_msgs/Vector3 vector

jsk_pcl_ros/PolygonOnEnvironment¶

Field (Request):
	environment_id (uint32) – plane_index (uint32) – polygon (geometry_msgs/PolygonStamped) –
Field (Response):
	result (bool) – reason (string) –

uint32 environment_id
uint32 plane_index
geometry_msgs/PolygonStamped polygon
---
bool result
string reason

jsk_pcl_ros/EnvironmentLock¶

Field (Response):
	environment_id (uint32) –

---
uint32 environment_id

jsk_pcl_ros/CallSnapIt¶

Field (Request):
	request (jsk_recognition_msgs/SnapItRequest) –
Field (Response):
	transformation (geometry_msgs/Pose) –

jsk_recognition_msgs/SnapItRequest request
---
geometry_msgs/Pose transformation

jsk_pcl_ros/RobotPickupReleasePoint¶

Field (Request):
	header (std_msgs/Header) – target_point (geometry_msgs/Point) – pick_or_release (byte) –
Field (Response):
	success (bool) –

Header header
geometry_msgs/Point target_point
byte pick_or_release  # 0 -> pick, 1 -> release
---
bool success

jsk_pcl_ros/SwitchTopic¶

Field (Request):
	camera_info (string) – points (string) –

new topics

# new topics
string camera_info
string points
---

jsk_pcl_ros/TowerRobotMoveCommand¶

Constant (Request):
	ROBOT1 (byte):1 – ROBOT2 (byte):2 – ROBOT3 (byte):3 – PLATE_SMALL (byte):1 – PLATE_MIDDLE (byte):2 – PLATE_LARGE (byte):3 – TOWER_LOWEST (byte):1 – TOWER_MIDDLE (byte):2 – TOWER_HIGHEST (byte):3 – TOWER_LOWEST2 (byte):1 – OPTION_NONE (byte):0 – OPTION_MOVE_INITIAL (byte):1 –
Field (Request):
	robot_index (int32) – plate_index (int32) – from_tower (int32) – to_tower (int32) – option_command (int32) –

a service to move robot with tower index

# a service to move robot with tower index
byte ROBOT1=1
byte ROBOT2=2
byte ROBOT3=3

byte PLATE_SMALL=1
byte PLATE_MIDDLE=2
byte PLATE_LARGE=3

byte TOWER_LOWEST=1
byte TOWER_MIDDLE=2
byte TOWER_HIGHEST=3
byte TOWER_LOWEST2=1

byte OPTION_NONE=0
byte OPTION_MOVE_INITIAL=1

int32 robot_index
int32 plate_index
int32 from_tower
int32 to_tower
int32 option_command
---