/SupportShooting

Support shooting function node for CoRE-1 2024

Primary LanguageC++Apache License 2.0Apache-2.0

SupportShooting

Support shooting function node for CoRE-1 2024

support_shooting_overview2

Node Structure

Topic (Subscribe)

Topic Name Type Description
detection vision_msgs::msg::Detection2DArray Detected panel poses
depth sensor_msgs/msg/Image Raw Depth from camera
camera_info sensor_msgs/msg/CameraInfo Camera info for depth image

Topic (Publish)

Topic Name Type Description
target geometry_msgs/msg/PointStamped A target point for pose generation

Class Diagram

---
title: SupportShooting Plugin hierarchy
---
classDiagram
    SupportShootingNode <-- SSPluginA : load as dll
    SupportShootingNode <-- SSPluginB : load as dll
    SSPluginA <|-- SupportShootingBase : include
    SSPluginB <|-- SupportShootingBase : include
    SupportShootingNode <|-- SupportShootingBase : include
    SupportShootingNode <|-- SupportShootingCommon
    SupportShootingNode: params
    SupportShootingNode: image_callback(Image)
    SupportShootingNode: point_callback(Detection2DArray)
    class SSPluginA{
        filter_kernel_param_a
        init(params)
        processing(cv::Mat1f, geometry_msgs::msg::Detection2DArray)
    }
    class SSPluginB{
        filter_kernel_param_b
        init(params)
        processing(cv::Mat1f, geometry_msgs::msg::Detection2DArray)
    }