semantic_map_publisher¶
This package provides an interface to observation data previously recorded and stored on the disk. The data can be queried using the services described below.
WaypointInfoService¶
Message type:
---
string[] waypoint_id
int32[] observation_count
Returns a list of waypoints along with the number of observations collected at those waypoints.
Service name: SemanticMapPublisher/WaypointInfoService
SensorOriginService¶
Message type:
string waypoint_id
---
geometry_msgs/Vector3 origin
Given a waypoint this service returns the origin from where the latest observation was acquired at that waypoint.
Service name: SemanticMapPublisher/SensorOriginService
ObservationService¶
Message type:
string waypoint_id
float64 resolution
---
sensor_msgs/PointCloud2 cloud
Given a waypoint, and a resolution, this service returns the latest observation collected at that waypoint as a PointCloud with the specified resolution.
Service name: SemanticMapPublisher/ObservationService
ObservationOctomapService¶
Message type:
string waypoint_id
float64 resolution
---
octomap_msgs/Octomap octomap
Same as ObservationService
but returns the latest observation as an
Octomap.
Service name: SemanticMapPublisher/ObservationOctomapService
WaypointTimestampService¶
Message type:
string waypoint_id
---
string[] waypoint_timestamps
Given a waypoint, this service returns the timestamps of all the observations collected at that waypoint, as a list.
Service name: SemanticMapPublisher/WaypointTimestampService
ObservationInstanceService¶
Message type:
string waypoint_id
int64 instance_number # convention 0 - oldest available
float64 resolution
---
sensor_msgs/PointCloud2 cloud
string observation_timestamp
Given a waypoint id, an instance number and a resolution, this service
returns a particular instance from the observations collected at that
particular waypoint, with the desired resolution, along with the
timestamp of the observation (as opposed to ObservationService
which
returns the latest observation at that particular waypoint). Service
name: SemanticMapPublisher/ObservationInstanceService
ObservationOctomapInstanceService¶
Message type:
string waypoint_id
int64 instance_number # convention 0 - oldest available
float64 resolution
---
octomap_msgs/Octomap octomap
string observation_timestamp
Same as ObservationInstanceService
, but returns the observation
instance as an Octomap
.
Service name: SemanticMapPublisher/ObservationOctomapInstanceService
Original page: https://github.com/strands-project/strands_3d_mapping/blob/hydro-devel/semantic_map_publisher/README.md