~/initial_estimate_string ( string, default: "0 0 0 0 0 0") Frame in which the source and target point clouds are matched (target point cloud transformed to this frame for matching).~/matching_frame ( string, default: "/map") Name of the source template point cloud file in the cad_models folder with a ".pcd" file extension.~/template_file ( string, default: "corner.pcd")
When false, matches the source point cloud to point clouds from ~/pcl_topic. Flag set to match the source point cloud (template) to the target_cloud provided in the ~/match_template service.~/pre_processed_cloud ( bool, default: false) Target point cloud topic to match source point cloud to when ~/pre_processed_cloud is false.~/pcl_topic ( string, default: "/head_camera/depth_registered/points") Flag to publish approximated matching frame ~/template_frame parameter.Flag to publish debugging point clouds like ~/matched_template_points.Parameters ~/debug ( bool, default: true)
Both the initial pose estimate and target point cloud can be predefined values/topics or provided at execution in the service calls depending on the use case.