BenchBot ROS Messages

This repo contains any extra messages used in ROS as part of the BenchBot framework alongside scripts for testing the messages.

Custom Messages List

SegmentImages

SegmentImages

ROS message type containing class and instance segmentation images.

Message Contents

sensor_msgs/Image.msg class_segment_img
- uint8 image where every unique non-zero pixel value corresponds to a specific class
sensor_msgs/Image.msg instance_segment_img
- uint16 image where every unique non-zero pixel value corresponds to a specific instance
- numbering convention of pixel values is CCIII where CC is the class id (1 up to 65) and III is the instance id within the current environment (1 up to 999)
string[] class_names
- name of each class in the given image as a string
uint16[] class_ids
- corresponding class id for each entry in class_names
- note that class_ids must be non-zero as zero is allocated to background pixels.

Test Scripts

`segment_img_ros_visualizer.py`

This script simply publishes the individual image components of the SegmentImages message to ros to be visualized using rqt_image_view or rviz.

Arguments:

--subscribe_topic, -s - the ROS topic to subscribe to

`segment_img_save_img_test.py`

This script saves every mask for every class segmentation image (every individual class) and every instance segmentation image (every individual instance) as its own image.

THIS USES UP STORAGE SPACE VERY QUICKLY AND SHOULD BE ONLY USED FOR QUICK TESTS