SupportShooting

Support shooting function node for CoRE-1 2024

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)
    }

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