homer_mapnav_msgs¶

Message types¶

• homer_mapnav_msgs/RegionOfInterest
• homer_mapnav_msgs/StopNavigation
• homer_mapnav_msgs/ModifyMap
• homer_mapnav_msgs/MapLayers
• homer_mapnav_msgs/StartNavigation
• homer_mapnav_msgs/ModifyPOI
• homer_mapnav_msgs/DoMapping
• homer_mapnav_msgs/PointOfInterest
• homer_mapnav_msgs/TargetUnreachable
• homer_mapnav_msgs/DeletePointOfInterest
• homer_mapnav_msgs/NavigateToPOI
• homer_mapnav_msgs/PointsOfInterest
• homer_mapnav_msgs/RegionsOfInterest

homer_mapnav_msgs/RegionOfInterest¶

Constant:	DEFAULT (int32):100 – ROOM (int32):200 – AREA (int32):300 – FORBIDDEN_AREA (int32):400 –
Field:	type (int32) – name (string) – remarks (string) – id (int32) – points[4] (geometry_msgs/Point) –

ROI types

#ROI types
int32 DEFAULT=100
int32 ROOM=200
int32 AREA=300
int32 FORBIDDEN_AREA=400

int32 type
string name
string remarks

int32 id
geometry_msgs/Point[4] points

homer_mapnav_msgs/StopNavigation¶

homer_mapnav_msgs/ModifyMap¶

Constant:	FREE (int32):0 – BLOCKED (int32):100 – OBSTACLE (int32):99 – NOT_MASKED (int32):-1 – HIGH_SENSITIV (int32):-2 – KINECT (int32):102 – SET_FREE (int32):0 – SET_BLOCKED (int32):100 – SET_OBSTACLE (int32):99 – SET_HIGH_SENSITIV (int32):-2 –
Field:	region[] (geometry_msgs/Point) – maskAction (int32) – mapLayer (int32) –

int32 FREE = 0            # Area is free
int32 BLOCKED = 100       # Area blocked by user (use UNBLOCK to .. )
int32 OBSTACLE = 99       # Area is occupied by an obstacle (e.g. 3d scan) 
int32 NOT_MASKED = -1     # Area is not masked: use slam map
int32 HIGH_SENSITIV = -2  # Area is highly sensitiv for Obstacles
int32 KINECT = 102 		  # Area is blocked by Kinect Obstacle


int32 SET_FREE = 0      	  # Mark area free, area must not be BLOCKED
int32 SET_BLOCKED = 100       # Block area
int32 SET_OBSTACLE = 99   	  # Mark area as occupied by an obstacle (e.g. 3d scan)
int32 SET_HIGH_SENSITIV = -2  # Mark Area as highly sensitiv for Obstacles


geometry_msgs/Point[] region
int32 maskAction
int32 mapLayer #currently not used. modifications only take place in the masking map layer

homer_mapnav_msgs/MapLayers¶

Constant:	SLAM_LAYER (int32):0 – MASKING_LAYER (int32):1 – KINECT_LAYER (int32):2 – SICK_LAYER (int32):3 –
Field:	layer (int32) – state (bool) –

int32 SLAM_LAYER=0
int32 MASKING_LAYER=1
int32 KINECT_LAYER=2
int32 SICK_LAYER=3

int32 layer    # map layer name
bool state 	# visibility state (on/off)

homer_mapnav_msgs/StartNavigation¶

Field:	goal (geometry_msgs/Pose) – distance_to_target (float32) – skip_final_turn (bool) – fast_planning (bool) –

geometry_msgs/Pose goal
float32 distance_to_target #default should bei 0.01 [m]
bool skip_final_turn
bool fast_planning #path planning within bounding box containing robot pose and target

homer_mapnav_msgs/ModifyPOI¶

Field:	poi (homer_mapnav_msgs/PointOfInterest) – old_name (string) –

PointOfInterest poi
string old_name #necessary if name of poi is changed

homer_mapnav_msgs/DoMapping¶

Field:	state (bool) –

bool state

homer_mapnav_msgs/PointOfInterest¶

Constant:	DEFAULT (int32):100 – OBJECT (int32):300 – GRIPPABLE_OBJECT (int32):400 – PERSON (int32):600 – START_POSITION (int32):900 – START_ORIENTATION (int32):1000 –
Field:	type (int32) – name (string) – remarks (string) – pose (geometry_msgs/Pose) –

POI types

#POI types
int32 DEFAULT=100
int32 OBJECT=300
int32 GRIPPABLE_OBJECT=400
int32 PERSON=600
int32 START_POSITION=900
int32 START_ORIENTATION=1000

int32 type
string name
string remarks

geometry_msgs/Pose pose

homer_mapnav_msgs/TargetUnreachable¶

Constant:	UNKNOWN (int8):0 – TILT_OCCURED (int8):10 – GRAVE_TILT_OCCURED (int8):15 – STALL_OCCURED (int8):20 – LASER_OBSTACLE (int8):30 – LASER_TIMEOUT (int8):35 – NO_PATH_FOUND (int8):40 –
Field:	reason (int8) –

int8 UNKNOWN=0
int8 TILT_OCCURED=10
int8 GRAVE_TILT_OCCURED=15
int8 STALL_OCCURED=20
int8 LASER_OBSTACLE=30
int8 LASER_TIMEOUT=35
int8 NO_PATH_FOUND=40

int8 reason

homer_mapnav_msgs/DeletePointOfInterest¶

Field:	name (string) –

string name

homer_mapnav_msgs/NavigateToPOI¶

Field:	poi_name (string) – distance_to_target (float32) – skip_final_turn (bool) –

string poi_name
float32 distance_to_target
bool skip_final_turn

homer_mapnav_msgs/PointsOfInterest¶

Field:	pois[] (homer_mapnav_msgs/PointOfInterest) –

PointOfInterest[] pois

homer_mapnav_msgs/RegionsOfInterest¶

Field:	rois[] (homer_mapnav_msgs/RegionOfInterest) –

RegionOfInterest[] rois

Service types¶

• homer_mapnav_msgs/LoadMap
• homer_mapnav_msgs/GetPointsOfInterest
• homer_mapnav_msgs/GetRegionsOfInterest
• homer_mapnav_msgs/SaveMap

homer_mapnav_msgs/LoadMap¶

Field (Request):
	filename (std_msgs/String) –

std_msgs/String filename
---

homer_mapnav_msgs/GetPointsOfInterest¶

Field (Response):
	poi_list (homer_mapnav_msgs/PointsOfInterest) –

---
PointsOfInterest poi_list

homer_mapnav_msgs/GetRegionsOfInterest¶

Field (Response):
	roi_list (homer_mapnav_msgs/RegionsOfInterest) –

---
RegionsOfInterest roi_list

homer_mapnav_msgs/SaveMap¶

Field (Request):
	folder (std_msgs/String) –

std_msgs/String folder
---