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PhotogrammetricWAAM documentation

Parametric Pose Array Publisher

USAGE:

the publisher ..

Terminal window
ros2 run ScanPlanPkg ScanPlanNode

a node to change params:

Terminal window
ros2 run ScanPlanPkg fastparam

what is it?

Section titled “what is it?”

the parametric pose array publisher receives the following parameters and runs it’s algorithm to generate a PoseArray message responsively (event driven) to parameter changes.

Params:

Section titled “Params:”
  • grid_size (i.e. 1 = a grid of 1x1, 2 = a grid of 2x2, etc.) .. default: 3
  • grid_spacing (i.e. 0.5 = 0.5m between each grid point) .. default: 0.5

Output:

Section titled “Output:”
  • PoseArray message

Topic:

Section titled “Topic:”
  • /parametric_pose_array