obj_detector/obj_detector.doctor.toml at master · ISC-Project-Phoenix/obj_detector · GitHub

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#ROS package you are documenting
package_name = "obj_detector"
repo = "https://github.com/ISC-Project-Phoenix/obj_detector"

#You can have multiple nodes in one package
[[nodes]]
node_name = 'obj_detector'
#Relitive to this file
source_file = ['./src/obj_detector.cpp']
summary = '''
Cone object detection node. It takes depth images of orange cones and outputs points in 3d
where the center of the cone is.
'''

#Your published topics (optional)
[[nodes.publishes]]
name = '/object_poses'
description = '3d Pose of the detected cones. In the reference frame of the camera'

#Your subscribed topics (optional)
[[nodes.subscribes]]
name = '/camera/mid/rgb'
description = 'RGB images from the camera. Will be rectified.'

[[nodes.subscribes]]
name = '/camera/mid/depth'
description = 'Depth images from camera. Assumed rectified.'

[[nodes.subscribes]]
name = '/camera/mid/rgb/camera_info'
description = 'Rgb cameras camera info'

#Your node parameters (optional)
[[nodes.params]]
name = 'transport_type'
description = 'image_pipeline topic type for rgb. Defaults to raw'

#Your node parameters (optional)
[[nodes.params]]
name = 'debug'
description = 'Enables debug visualisations'

#Your node parameters (optional)
[[nodes.params]]
name = 'test_latency'
description = 'Prints e2e latency statistics if true'

[[nodes.params]]
name = 'camera_frame'
description = 'Frame the poses will be published from'

[[nodes]]
node_name = 'detection_cat'
#Relitive to this file
source_file = ['./src/DetectionCatNode_node.cpp']
summary = '''
Node that concatinates the detections of two detectors together, emulating one "big camera".
'''

#Your published topics (optional)
[[nodes.publishes]]
name = '/object_detection_cat'
description = 'Concatinated points, in the common frame and with overlapping detections removed.'

#Your subscribed topics (optional)
[[nodes.subscribes]]
name = '/object_detection1'
description = 'First detection source'

[[nodes.subscribes]]
name = '/object_detection2'
description = 'Second detection source'

#Your node parameters (optional)
[[nodes.params]]
name = 'common_frame'
description = 'Common frame to transform both topics into.'

[[nodes.params]]
name = 'overlap_tolerence'
description = 'Overlapping detections under distince tolerence will be combined into one.'