lama_interfaces

Summary

lama_interfaces
Version:

0.1.3
Description:

The lama_interfaces package provides the interfaces between ROS nodes (such as jockeys from lama_jockeys) and the map.
Maintainers:
  • Gaël Ecorchard <gael DOT ecorchard AT ciirc DOT cvut DOT cz>
Licenses:
  • BSD
Urls:
Authors:
  • Gaël Ecorchard <gael DOT ecorchard AT ciirc DOT cvut DOT cz>
  • Karel Košnar <kosnar AT labe DOT felk DOT cvut DOT cz>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:
TestDepends:

Types

Service types

lama_interfaces/SetPolygon
Field (Request):
 
Field (Response):
 
  • id (int32) – 
geometry_msgs/Polygon descriptor 
---
int32 id
lama_interfaces/SetVectorDouble
Field (Request):
 
  • descriptor[] (float64) –
Field (Response):
 
  • id (int32) – 
float64[] descriptor 
---
int32 id
lama_interfaces/SetDouble
Field (Request):
 
  • descriptor (float64) –
Field (Response):
 
  • id (int32) – 
float64 descriptor 
---
int32 id
lama_interfaces/GetPolygon
Field (Request):
 
  • id (int32) –
Field (Response):
  
int32 id 
---
geometry_msgs/Polygon descriptor
lama_interfaces/SetVectorPose
Field (Request):
 
Field (Response):
 
  • id (int32) – 
geometry_msgs/Pose[] descriptor 
---
int32 id
lama_interfaces/SetVectorLaserScan
Field (Request):
 
Field (Response):
 
  • id (int32) – 
sensor_msgs/LaserScan[] descriptor 
---
int32 id
lama_interfaces/GetVectorOdometry
Field (Request):
 
  • id (int32) –
Field (Response):
  
int32 id 
---
nav_msgs/Odometry[] descriptor
lama_interfaces/AddInterface
Field (Request):
 
  • interface_name (string) –
  • get_service_message (string) –
  • set_service_message (string) –
  • interface_type (uint32) –
Constant (Request):
 
  • SERIALIZED (uint32):1 –
  • CLEARTEXT (uint32):2 –
Field (Response):
 
  • get_service_name (string) –
  • set_service_name (string) –

Interface name, must be unique

# Interface name, must be unique
string interface_name

# A srv message with request field "int32 id" and response field
# "TYPE descriptor", where TYPE is the type of message that should be handled.
# For example, get_service_message can be "lama_interface/GetDouble".
string get_service_message

# A srv message with request field "TYPE descriptor" and response field
# "int32 id", where TYPE is the type of message that should be handled.
# For example, set_service_message can be "lama_interface/SetDouble".
string set_service_message

uint32 interface_type
uint32 SERIALIZED = 1
uint32 CLEARTEXT = 2
---
string get_service_name
string set_service_name
lama_interfaces/SetVectorOdometry
Field (Request):
 
Field (Response):
 
  • id (int32) – 
nav_msgs/Odometry[] descriptor 
---
int32 id
lama_interfaces/GetDouble
Field (Request):
 
  • id (int32) –
Field (Response):
 
  • descriptor (float64) – 
int32 id 
---
float64 descriptor
lama_interfaces/GetVectorLaserScan
Field (Request):
 
  • id (int32) –
Field (Response):
  
int32 id 
---
sensor_msgs/LaserScan[] descriptor
lama_interfaces/ActOnMap
Field (Request):
 
  • action (uint32) –
  • object (lama_msgs/LamaObject) –
  • descriptor_id (int32) –
  • interface_name (string) –
Constant (Request):
 
  • PUSH_VERTEX (uint32):1 –
  • PULL_VERTEX (uint32):2 –
  • ASSIGN_DESCRIPTOR_VERTEX (uint32):3 –
  • PUSH_EDGE (uint32):4 –
  • PULL_EDGE (uint32):5 –
  • ASSIGN_DESCRIPTOR_EDGE (uint32):6 –
  • GET_VERTEX_LIST (uint32):7 –
  • GET_EDGE_LIST (uint32):8 –
  • GET_DESCRIPTOR_LINKS (uint32):9 –
  • GET_NEIGHBOR_VERTICES (uint32):10 –
  • GET_OUTGOING_EDGES (uint32):11 –
Field (Response):
  
uint32 action

# Possible actions.
# Add vertex (defined in "object").
uint32 PUSH_VERTEX = 1 
# Retrieve the unique vertex with id object.id (vertex into "objects[0]") and
# associated descriptors (into "descriptor_links").
uint32 PULL_VERTEX = 2
# Assign descriptor (with id "descriptor_id" and interface "interface_name") to
# vertex (defined in "object").
uint32 ASSIGN_DESCRIPTOR_VERTEX = 3
# Add edge (defined in "object").
uint32 PUSH_EDGE = 4
# Retrieve the unique edge with id object.id (edge into "objects[0]") and
# associated descriptors (into "descriptor_links").
uint32 PULL_EDGE = 5
# Assign descriptor (with id "descriptor_id" and interface "interface_name") to
# edge (defined in "object")
uint32 ASSIGN_DESCRIPTOR_EDGE = 6
# Retrieve vertices with search criteria given in object (into "objects").
# Search criteria are attributes with non-default values (0 or '').
uint32 GET_VERTEX_LIST = 7
# Retrieve edges with search criteria given in object (into "objects").
# Search criteria are attributes with non-default values (0 or '').
uint32 GET_EDGE_LIST = 8
# Retrieve descriptor_links from a LamaObject (defined in "object") with an
# optionally specified interface name ("interface_name").
uint32 GET_DESCRIPTOR_LINKS = 9
# TODO: DESCRIBE
uint32 GET_NEIGHBOR_VERTICES = 10
# Retrieve all edges starting at the given vertex (defined in "object").
uint32 GET_OUTGOING_EDGES = 11

lama_msgs/LamaObject object
int32 descriptor_id
string interface_name
---
lama_msgs/LamaObject[] objects
lama_msgs/DescriptorLink[] descriptor_links
lama_interfaces/GetVectorDouble
Field (Request):
 
  • id (int32) –
Field (Response):
 
  • descriptor[] (float64) – 
int32 id 
---
float64[] descriptor
lama_interfaces/GetVectorPose
Field (Request):
 
  • id (int32) –
Field (Response):
  
int32 id 
---
geometry_msgs/Pose[] descriptor