euclid_k_clustering.py

What is this?

This node dynamically reconfigures the ~tolerance rosparam of jsk_pcl_ros/euclid_clustering (jsk_pcl/EuclideanClustering) considering the number of objects in the region of interest.

Subscribing Topic

• ~k_cluster (jsk_recognition_msgs/Int32Stamped)

  Expected number of clusters.

• ~{node}/cluster_num (jsk_recognition_msgs/Int32Stamped)

  Actual number of clusters. {node} is the value of rosparam ~node. See Parameters for detail.

Publishing Topic

None.

Parameters

• ~node (type: String, required)

  Node name of jsk_pcl_ros/euclid_clustering.

• ~default_tolerance (type: Float, required)

  Default value of tolerance.

• ~reconfig_eps (type: Float, default: 0.2)

  Rate of reconfiguration compared to the value at each time.

• ~reconfig_n_limit (type: Int, default 10)

  Number of times of reconfiguration.