lama_msgs¶

Message types¶

• lama_msgs/PlaceProfile
• lama_msgs/DescriptorLink
• lama_msgs/Crossing
• lama_msgs/LamaObject
• lama_msgs/Frontier

lama_msgs/PlaceProfile¶

Field:	header (std_msgs/Header) – polygon (geometry_msgs/Polygon) – exclude_segments[] (int32) –

2D Description of a place by some points at obstacle borders The difference with a LaserScan is that some segments can be marked as to be excluded. Such segments will be the segments where the range is the maximum range of the LaserSCan or borders between free and unknown pixels of a costmap.

# 2D Description of a place by some points at obstacle borders
# The difference with a LaserScan is that some segments can
# be marked as to be excluded. Such segments will be the segments
# where the range is the maximum range of the LaserSCan or
# borders between free and unknown pixels of a costmap.

Header header

geometry_msgs/Polygon polygon

# Segments to exclude, segment i is between point i and i+1.
# The last segment is between points (n-1) and 0, where n is the number of points.
int32[] exclude_segments

lama_msgs/DescriptorLink¶

Field:	object_id (int32) – descriptor_id (int32) – interface_name (string) –

A DescriptorLink is a bond between a Lama object and a descriptor.

Id of the Lama object associated with the descriptor (in the database).

# A DescriptorLink is a bond between a Lama object and a descriptor.

# Id of the Lama object associated with the descriptor (in the database).
int32 object_id

# Id of the associated descriptor (in the database).
int32 descriptor_id 

# Interface name which also identifies the descriptor type.
string interface_name

lama_msgs/Crossing¶

Field:	center (geometry_msgs/Point) – radius (float32) – max_range (float32) – frontiers[] (lama_msgs/Frontier) –

The main aim of a crossing is to store frontier information.

Crossing center.

# The main aim of a crossing is to store frontier information.

# Crossing center.
geometry_msgs/Point center

# Crossing radius.
float32 radius

# Max. range of the data used to compute the crossing.
float32 max_range

Frontier[] frontiers

lama_msgs/LamaObject¶

Field:	id (int32) – id_in_world (int32) – name (string) – emitter_id (int32) – emitter_name (string) – type (int32) – references[2] (int32) –
Constant:	VERTEX (int32):1 – EDGE (int32):2 –

id of lama object in the database, will be unique. When adding a vertex into the database, this id will be ignored.

# id of lama object in the database, will be unique.
# When adding a vertex into the database, this id will be ignored.
int32 id

# id of lama object in the world (usage is implementation specific).
int32 id_in_world

# name of object
string name

# emitter id and name.
int32 emitter_id
string emitter_name

# type: "EDGE" or "VERTEX"
int32 type
int32 VERTEX = 1
int32 EDGE = 2

# for edges: start and end vertices
# for vertices: not used
int32[2] references

lama_msgs/Frontier¶

Field:	p1 (geometry_msgs/Point) – p2 (geometry_msgs/Point) – width (float32) – angle (float32) –

Frontier is a line segment through which a robot can go.

First point

# Frontier is a line segment through which a robot can go.

# First point
geometry_msgs/Point p1

# Second point, so that angle(r-p1, r-p2) is positive, where r is crossing center.
geometry_msgs/Point p2

# Segment length, i.e. width of free space
float32 width

# Angle between x-axis and line between origin and frontier middle. Where x-axis
# and origin refer to the data from which the frontier is computed, in general a LaserScan.
float32 angle

Service types¶

• lama_msgs/SetLamaObject
• lama_msgs/GetPlaceProfile
• lama_msgs/GetLamaObject
• lama_msgs/SetPlaceProfile
• lama_msgs/GetCrossing
• lama_msgs/SetCrossing

lama_msgs/SetLamaObject¶

Field (Request):
	object (lama_msgs/LamaObject) –
Field (Response):
	id (int32) –

LamaObject object
---
int32 id

lama_msgs/GetPlaceProfile¶

Field (Request):
	id (int32) –
Field (Response):
	descriptor (lama_msgs/PlaceProfile) –

int32 id 
---
PlaceProfile descriptor 

lama_msgs/GetLamaObject¶

Field (Request):
	id (int32) –
Field (Response):
	object (lama_msgs/LamaObject) –

int32 id
---
LamaObject object

lama_msgs/SetPlaceProfile¶

Field (Request):
	descriptor (lama_msgs/PlaceProfile) –
Field (Response):
	id (int32) –

PlaceProfile descriptor 
---
int32 id 

lama_msgs/GetCrossing¶

Field (Request):
	id (int32) –
Field (Response):
	descriptor (lama_msgs/Crossing) –

int32 id 
---
Crossing descriptor 

lama_msgs/SetCrossing¶

Field (Request):
	descriptor (lama_msgs/Crossing) –
Field (Response):
	id (int32) –

Crossing descriptor 
---
int32 id