hector_worldmodel_msgs

Summary

hector_worldmodel_msgs
Version:

0.3.3
Description:

hector_worldmodel_msgs is a message package to comes with the hector_worldmodel stack. The messages can be used to send percepts from images (hector_worldmodel_msgs/ImagePercept) or other sources (hector_worldmodel_msgs/PosePercept) to the hector_object_tracker node. The tracker publishes model updates as hector_worldmodel_msgs/Object messages and latches the whole model state as a hector_worldmodel_msgs/ObjectModel message.
Maintainers:
  • Johannes Meyer <meyer AT fsr DOT tu-darmstadt DOT de>
Licenses:
  • BSD
Urls:
Authors:
  • Johannes Meyer <meyer AT fsr DOT tu-darmstadt DOT de>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

hector_worldmodel_msgs/ImagePercept
Field:

hector_worldmodel_msgs/ImagePercept This message represents an observation of an object in a single image.

The header should equal the header of the corresponding image.

# hector_worldmodel_msgs/ImagePercept
# This message represents an observation of an object in a single image.

# The header should equal the header of the corresponding image.
Header header

# The camera info which is needed to project from image coordinates to world coordinates
sensor_msgs/CameraInfo camera_info

# Center coordinates of the percept in image coordinates
# x: axis points to the right in the image
# y: axis points downward in the image
float32 x
float32 y

# Normalized size of the percept in image coordinates (or 0.0)
float32 width
float32 height

# Distance estimate (slope distance) (or 0.0)
float32 distance

# Additional information about the percept
PerceptInfo info
hector_worldmodel_msgs/ObjectInfo
Field:
  • class_id (string) –
  • object_id (string) –
  • name (string) –
  • support (float32) –

hector_worldmodel_msgs/ObjectInfo This message contains information about the estimated class affiliation, object id and corresponding support

A string identifying the object’s class (all objects of a class look the same)

# hector_worldmodel_msgs/ObjectInfo
# This message contains information about the estimated class affiliation, object id and corresponding support

# A string identifying the object's class (all objects of a class look the same)
string class_id

# A string identifying the specific object
string object_id

# A string that contains the name or a description of the specific object
string name

# The support (degree of belief) of the object's presence given as log odd ratio
float32 support
hector_worldmodel_msgs/PerceptInfo
Field:
  • class_id (string) –
  • class_support (float32) –
  • object_id (string) –
  • object_support (float32) –
  • name (string) –

hector_worldmodel_msgs/PerceptInfo This message contains information about the estimated class and object identity

A string identifying the object’s class (all objects of a class look the same)

# hector_worldmodel_msgs/PerceptInfo
# This message contains information about the estimated class and object identity 

# A string identifying the object's class (all objects of a class look the same)
string class_id

# The class association support of the observation
# The support is the log odd likelihood ratio given by log(p(y/observation y belongs to object of class class_id) / p(y/observation y is a false positive))
float32 class_support

# A string identifying a specific object
string object_id

# The object association support of the observation
# The support is the log odd likelihood ratio given by log(p(observation belongs to object object_id) / p(observation is false positive or belongs to another object))
float32 object_support

# A string that contains the name or a description of the specific object
string name
hector_worldmodel_msgs/ObjectModel
Field:

hector_worldmodel_msgs/ObjectModel This message represents a collection of known objects.

# hector_worldmodel_msgs/ObjectModel
# This message represents a collection of known objects.

Header header
Object[] objects
hector_worldmodel_msgs/Object
Field:

hector_worldmodel_msgs/Object This message represents an estimate of an object’s pose and identity.

The header.
stamp: Timestamp of last update. frame_id: Coordinate frame, in which the pose is given
# hector_worldmodel_msgs/Object
# This message represents an estimate of an object's pose and identity.

# The header.
#   stamp: Timestamp of last update.
#   frame_id: Coordinate frame, in which the pose is given
Header header

# The pose
geometry_msgs/PoseWithCovariance pose

# Further information about the object
ObjectInfo info

# The tracked state of the object
ObjectState state
hector_worldmodel_msgs/ObjectState
Constant:
  • UNKNOWN (int8):0 –
  • PENDING (int8):1 –
  • ACTIVE (int8):2 –
  • INACTIVE (int8):3 –
  • CONFIRMED (int8):-1 –
  • DISCARDED (int8):-2 –
  • APPROACHING (int8):-3 –
Field:
  • state (int8) –

The state of an object estimate used to track states smaller than 0 disable all updates

Predefined states. Use states smaller than 0 or bigger than 63 for user defined states.

# The state of an object estimate used to track
# states smaller than 0 disable all updates

# Predefined states. Use states smaller than 0 or bigger than 63 for user defined states.
int8 UNKNOWN = 0
int8 PENDING = 1
int8 ACTIVE  = 2
int8 INACTIVE = 3
int8 CONFIRMED = -1
int8 DISCARDED = -2
int8 APPROACHING = -3

int8 state
hector_worldmodel_msgs/PosePercept
Field:

hector_worldmodel_msgs/PosePercept This message represents an observation of an object in a single image.

The header should equal the header of the corresponding image.

# hector_worldmodel_msgs/PosePercept
# This message represents an observation of an object in a single image.

# The header should equal the header of the corresponding image.
Header header

# The estimated pose of the object with its covariance
geometry_msgs/PoseWithCovariance pose

# Additional information about the percept
PerceptInfo info

Service types

hector_worldmodel_msgs/SetObjectState
Field (Request):
 

This service sets the state of the object with object_id object_id

# This service sets the state of the object with object_id object_id

string object_id
ObjectState new_state
---
hector_worldmodel_msgs/VerifyPercept
Field (Request):
 
Field (Response):
 
  • response (uint8) –
Constant (Response):
 
  • UNKNOWN (uint8):0 –
  • DISCARD (uint8):1 –
  • CONFIRM (uint8):2 –

This service is called to ask other nodes for their opinion about a percept

The percept

# This service is called to ask other nodes for their opinion about a percept

# The percept
PosePercept percept
---
# The response
uint8 response
uint8 UNKNOWN = 0
uint8 DISCARD = 1
uint8 CONFIRM = 2
hector_worldmodel_msgs/GetObjectModel
Field (Response):
 

This service retrieves the latest ObjectModel

# This service retrieves the latest ObjectModel
---
ObjectModel model
hector_worldmodel_msgs/SetObjectName
Field (Request):
 
  • object_id (string) –
  • name (string) –

This service sets the name of the object with object_id object_id

# This service sets the name of the object with object_id object_id

string object_id
string name
---
hector_worldmodel_msgs/VerifyObject
Field (Request):
 
Field (Response):
 
  • response (uint8) –
Constant (Response):
 
  • UNKNOWN (uint8):0 –
  • DISCARD (uint8):1 –
  • CONFIRM (uint8):2 –

This service is called to ask other nodes for their opinion about an object estimate

The object

# This service is called to ask other nodes for their opinion about an object estimate

# The object
Object object
---
# The response
uint8 response
uint8 UNKNOWN = 0
uint8 DISCARD = 1
uint8 CONFIRM = 2
hector_worldmodel_msgs/AddObject
Field (Request):
 
Field (Response):
 

This service adds an object to the model explicitly

The object that should be added to the model

# This service adds an object to the model explicitly

# The object that should be added to the model
Object object

# If true, the object is mapped to the next obstacle from the perspective of the source frame
bool map_to_next_obstacle
---
# The object added to the model
Object object