Merge pull request #3 from stereolabs/feat_plane_detection

Add PlaneStamped message

Author: Myzhar

CMakeLists.txt

@@ -14,6 +14,7 @@ find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(shape_msgs REQUIRED)
 
 ###############################################################################
 # Add all files in subdirectories of the project in
@@ -34,6 +35,7 @@ set(MSG_FILES
     "msg/Skeleton2D.msg"
     "msg/Skeleton3D.msg"
     "msg/DepthInfoStamped.msg"
+    "msg/PlaneStamped.msg"
 )
 
 set(SRV_FILES
@@ -44,7 +46,7 @@ set(SRV_FILES
 rosidl_generate_interfaces(${PROJECT_NAME}    
     ${MSG_FILES}
     ${SRV_FILES}
-    DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
+    DEPENDENCIES builtin_interfaces std_msgs geometry_msgs shape_msgs
 )
 
 # Install URDF files

msg/PlaneStamped.msg

@@ -0,0 +1,23 @@
+# Standard Header
+std_msgs/Header header
+
+# Mesh of the place
+shape_msgs/Mesh mesh
+
+# Representation of a plane, using the plane equation ax + by + cz + d = 0
+shape_msgs/Plane coefficients
+
+# Normal vector
+geometry_msgs/Point32 normal
+
+# Center point 
+geometry_msgs/Point32 center
+
+# Plane pose relative to the global reference frame
+geometry_msgs/Transform pose
+
+# Width and height of the bounding rectangle around the plane contours
+float32[2] extents
+
+# The polygon bounds of the plane
+geometry_msgs/Polygon bounds

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>zed_interfaces</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>Contains message and service definitions used by the ZED ROS2 nodes.</description>
   <maintainer email="[email protected]">STEREOLABS</maintainer>
 
@@ -17,10 +17,12 @@
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>shape_msgs</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>  
 
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>shape_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>