Publish location X,Y,Z coordinates as a PointCloud to a ROS topic.
Incoming packets should have at least these keys:
{
X:
All locations are published as a PointCloud so that the ROS visualization only needs to subscribe to one topic.
- Version:
- $$Id$$
- Source:
Parameters:
| Name | Type | Description |
|---|---|---|
topic |
string | The ROS topic to publish to. |
frame_id |
string | The frame_id of the header (only needed if a header is required). |
Methods
(static) initialize()
Inherits initialize from WebSocketClient. Advertise the topic we are publishing to.
(static) onOpen()
Override onOpen from WebSocketClient
(static) setup()
Sets up by accessor by inheriting inputs from setup() in WebSocketClient. Adds additional parameters regarding the ROS topic to publish to.
(static) toSendInputHandler()
Override inputHandler on 'toSend' from WebSocketClient.
(static) wrapup()
Unadvertise the topic and inherit wrapup from WebSocketClient.