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