I have a python script below with the polygon. I am publishing a single polygon as both a Polygon and PolygonArray. The Polygon works fine but the PolygonArray does not with when only border is False.
#!/usr/bin/env python
import rospy
import time
from geometry_msgs.msg import PolygonStamped, Polygon, Point32
from jsk_recognition_msgs.msg import PolygonArray
class Publisher:
def __init__(self) -> None:
"""Initialises the node"""
rospy.init_node("publish_polygon")
# wait for time to init
while rospy.get_rostime().to_sec() == 0.0:
time.sleep(0.1)
points = [
{"x": 845.4697875976562, "y": -1329.1895751953125, "z": 0.0},
{"x": 110.03823852539062, "y": -1324.4365234375, "z": 0.0},
{"x": 109.90898132324219, "y": -1344.43603515625, "z": 0.0},
{"x": 846.8936157226562, "y": -1349.1990966796875, "z": 0.0},
{"x": 847.5587768554688, "y": -1349.1812744140625, "z": 0.0},
{"x": 848.2213134765625, "y": -1349.1192626953125, "z": 0.0},
{"x": 848.7095336914062, "y": -1349.05712890625, "z": 0.0},
{"x": 849.2949829101562, "y": -1348.96484375, "z": 0.0},
{"x": 849.8739013671875, "y": -1348.8380126953125, "z": 0.0},
{"x": 850.4443359375, "y": -1348.67724609375, "z": 0.0},
{"x": 851.0042724609375, "y": -1348.48291015625, "z": 0.0},
{"x": 1158.0098876953125, "y": -1231.6077880859375, "z": 0.0},
{"x": 1150.8941650390625, "y": -1212.9163818359375, "z": 0.0},
]
header = rospy.Header(stamp=rospy.Time.now(), frame_id="init_fix_accurate_link")
polygon = Polygon(points=[Point32(**point) for point in points])
polygon_stamped = PolygonStamped(
header=header,
polygon=polygon,
)
polygon_array = PolygonArray(header=header, polygons=[polygon_stamped], labels=[0], likelihood=[1.0])
self.polygon_publisher = rospy.Publisher(
name="polygon", data_class=PolygonStamped, latch=True, queue_size=1
)
self.polygons_publisher = rospy.Publisher(
name="polygon_array", data_class=PolygonArray, latch=True, queue_size=1
)
self.polygon_publisher.publish(polygon_stamped)
self.polygons_publisher.publish(polygon_array)
def run(self) -> None:
"""main run loop"""
rospy.spin()
def main() -> None:
"""main function"""
node = Publisher()
node.run()
if __name__ == "__main__":
main()
On ROS noetic
I have noticed that some polygons are not showing when
only borderis False.These polygons are usually concave.
I have a python script below with the polygon. I am publishing a single polygon as both a Polygon and PolygonArray. The Polygon works fine but the PolygonArray does not with when
only borderis False.Only Border: True
Only Border: False
Polygon
