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what we are trying to do in overall is to mask out parts of the robot in a view of a given camera. For that we have written a service server that takes in a tf tree, reads robot's urdf from a parameter server and essentially returns the robot's parts in white and everything else in black (see below). In a client program ( we would like to get a tf tree to pass it on as a request to the server and a time corresponding original image from the camera to obviously mask out the robot's parts.

Service server response: image description