From a506bfe5caa5249cb7551dbd04acf9d56502d0db Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Mon, 8 Aug 2016 00:29:08 +0900
Subject: [PATCH] Remove jsk_pcl_ros/box_array_to_box.py

Close jsk-ros-pkg#1831
This change should be released as a major release.

cc @k-okada
---
 jsk_pcl_ros/launch/imu_orientated_icp.launch  | 11 +++++---
 .../imu_orientated_plane_rejecter.launch      | 11 +++++---
 jsk_pcl_ros/scripts/box_array_to_box.py       | 26 -------------------
 3 files changed, 16 insertions(+), 32 deletions(-)
 delete mode 100755 jsk_pcl_ros/scripts/box_array_to_box.py

diff --git a/jsk_pcl_ros/launch/imu_orientated_icp.launch b/jsk_pcl_ros/launch/imu_orientated_icp.launch
index 07b10be3e4..d84360bf0e 100644
--- a/jsk_pcl_ros/launch/imu_orientated_icp.launch
+++ b/jsk_pcl_ros/launch/imu_orientated_icp.launch
@@ -52,9 +52,14 @@
       publish_tf: false
     </rosparam>
   </node>
-  <node pkg="jsk_pcl_ros" type="box_array_to_box.py"
-        name="box_array_to_box">
-    <remap from="bounding_box_array" to="/cluster_decomposer_one/boxes" />
+  <node name="box_array_to_box"
+        pkg="nodelet" type="nodelet"
+        args="load jsk_pcl_utils/BoundingBoxArrayToBoundingBox $(arg MANAGER)">
+    <remap from="~input" to="/cluster_decomposer_one/boxes" />
+    <remap from="~output" to="bounding_box" />
+    <rosparam>
+      index: 0
+    </rosparam>
   </node>
   <node pkg="jsk_pcl_ros" type="calculate_polygon_from_imu.py"
         name="calc_polygon">
diff --git a/jsk_pcl_ros/launch/imu_orientated_plane_rejecter.launch b/jsk_pcl_ros/launch/imu_orientated_plane_rejecter.launch
index 40f5f86ec3..1a9712b076 100644
--- a/jsk_pcl_ros/launch/imu_orientated_plane_rejecter.launch
+++ b/jsk_pcl_ros/launch/imu_orientated_plane_rejecter.launch
@@ -17,9 +17,14 @@
     <remap from="~input_coefficients" to="/model_coefficients_array" />
     <param name="frame_id" value="$(arg CAMERA_FRAME_ID)" />
   </node>
-  <node pkg="jsk_pcl_ros" type="box_array_to_box.py"
-        name="box_array_to_box">
-    <remap from="bounding_box_array" to="/cluster_decomposer_one/boxes" />
+  <node name="box_array_to_box"
+        pkg="nodelet" type="nodelet"
+        args="load jsk_pcl_utils/BoundingBoxArrayToBoundingBox /$(arg MANAGER)">
+    <remap from="~input" to="/cluster_decomposer_one/boxes" />
+    <remap from="~output" to="bounding_box" />
+    <rosparam>
+      index: 0
+    </rosparam>
   </node>
   <node pkg="jsk_pcl_ros" type="calculate_polygon_from_imu.py"
         name="calc_polygon">
diff --git a/jsk_pcl_ros/scripts/box_array_to_box.py b/jsk_pcl_ros/scripts/box_array_to_box.py
deleted file mode 100755
index fc9f0bd911..0000000000
--- a/jsk_pcl_ros/scripts/box_array_to_box.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python
-import rospy
-
-PKG='jsk_pcl_ros'
-
-import imp
-## import message_filters
-try:
-    imp.find_module(PKG)
-except:
-    import roslib;roslib.load_manifest(PKG)
-
-from jsk_recognition_msgs.msg import BoundingBox, BoundingBoxArray
-
-def boxarray_cb(boxarray):
-    if (len(boxarray.boxes)==0):
-        rospy.loginfo("box size 0")
-        return
-    BPub.publish(boxarray.boxes[0])
-
-
-if __name__ == "__main__":
-    rospy.init_node('transform_box', anonymous=True)
-    BPub = rospy.Publisher('bounding_box', BoundingBox)
-    rospy.Subscriber("bounding_box_array", BoundingBoxArray, boxarray_cb)
-    rospy.spin()