sac.launch

<launch>
  <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

  <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
  <node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid pcl_manager" output="screen">
    <remap from="~input" to="/camera/depth/points_throttle" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: 0.01
      filter_limit_max: 1.5
      filter_limit_negative: False
      leaf_size: 0.075
    </rosparam>
  </node>

  <!-- Estimate point normals -->
  <node pkg="nodelet" type="nodelet" name="normal_estimation" args="load pcl/NormalEstimation pcl_manager" output="screen">
    <remap from="~input" to="/voxel_grid/output" />
    <rosparam>
      # -[ Mandatory parameters
      k_search: 0
      radius_search: 0.15
      # Set the spatial locator. Possible values are: 0 (ANN), 1 (FLANN), 2 (organized)
      spatial_locator: 0
    </rosparam>
  </node>

  <!-- Segment the table plane -->
  <node pkg="nodelet" type="nodelet" name="planar_segmentation" args="load pcl/SACSegmentationFromNormals pcl_manager" output="screen">
    <remap from="~input"   to="/voxel_grid/output" />
    <remap from="~normals" to="/normal_estimation/output" />
    <rosparam>
      # -[ Mandatory parameters
      # model_type:
      # 0: SACMODEL_PLANE
      # 1: SACMODEL_LINE
      # 2: SACMODEL_CIRCLE2D
      # 3: SACMODEL_CIRCLE3D
      # 4: SACMODEL_SPHERE
      # 5: SACMODEL_CYLINDER
      # 6: SACMODEL_CONE
      # 7: SACMODEL_TORUS
      # 8: SACMODEL_PARALLEL_LINE
      # 9: SACMODEL_PERPENDICULAR_PLANE
      # 10: SACMODEL_PARALLEL_LINES
      # 11: SACMODEL_NORMAL_PLANE
      # 12: SACMODEL_NORMAL_SPHERE
      # 13: SACMODEL_REGISTRATION
      # 14: SACMODEL_REGISTRATION_2D
      # 15: SACMODEL_PARALLEL_PLANE
      # 16: SACMODEL_NORMAL_PARALLEL_PLANE
      # 17: SACMODEL_STICK
      model_type: 9
      distance_threshold: 0.05
      max_iterations: 1000
      method_type: 0
      optimize_coefficients: true
      normal_distance_weight: 0.1
      eps_angle: 0.2 #0.09
      axis: [0.0,1.0,0.0]
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="extract_plane_outliers" args="load pcl/ExtractIndices pcl_manager" output="screen">
    <remap from="~input"   to="/voxel_grid/output" />
    <remap from="~indices" to="/planar_segmentation/inliers" />
    <remap from="~output" to="plane_outliers" />
    <rosparam>
      negative: true
      approximate_sync: true
    </rosparam>
  </node>
</launch>