stdr_msgs¶

Message types¶

• stdr_msgs/CO2Source
• stdr_msgs/RobotIndexedMsg
• stdr_msgs/RobotMsg
• stdr_msgs/SoundSource
• stdr_msgs/Noise
• stdr_msgs/RobotIndexedVectorMsg
• stdr_msgs/RfidSensorMeasurementMsg
• stdr_msgs/KinematicMsg
• stdr_msgs/CO2SensorMeasurementMsg
• stdr_msgs/ThermalSource
• stdr_msgs/SonarSensorMsg
• stdr_msgs/LaserSensorMsg
• stdr_msgs/RfidTagVector
• stdr_msgs/FootprintMsg
• stdr_msgs/CO2SensorMsg
• stdr_msgs/SoundSensorMeasurementMsg
• stdr_msgs/ThermalSensorMeasurementMsg
• stdr_msgs/SoundSensorMsg
• stdr_msgs/RfidTag
• stdr_msgs/SoundSourceVector
• stdr_msgs/RfidSensorMsg
• stdr_msgs/ThermalSourceVector
• stdr_msgs/CO2SourceVector
• stdr_msgs/ThermalSensorMsg

stdr_msgs/CO2Source¶

Field:	id (string) – ppm (float32) – pose (geometry_msgs/Pose2D) –

Source description

# Source description

string id
float32 ppm

# sensor pose, relative to the map origin
geometry_msgs/Pose2D pose 

stdr_msgs/RobotIndexedMsg¶

Field:	name (string) – robot (stdr_msgs/RobotMsg) –

string name
stdr_msgs/RobotMsg robot

stdr_msgs/RobotMsg¶

Field:	initialPose (geometry_msgs/Pose2D) – footprint (stdr_msgs/FootprintMsg) – laserSensors[] (stdr_msgs/LaserSensorMsg) – sonarSensors[] (stdr_msgs/SonarSensorMsg) – rfidSensors[] (stdr_msgs/RfidSensorMsg) – co2Sensors[] (stdr_msgs/CO2SensorMsg) – soundSensors[] (stdr_msgs/SoundSensorMsg) – thermalSensors[] (stdr_msgs/ThermalSensorMsg) – kinematicModel (stdr_msgs/KinematicMsg) –

geometry_msgs/Pose2D initialPose

stdr_msgs/FootprintMsg footprint

stdr_msgs/LaserSensorMsg[] laserSensors
stdr_msgs/SonarSensorMsg[] sonarSensors
stdr_msgs/RfidSensorMsg[] rfidSensors
stdr_msgs/CO2SensorMsg[] co2Sensors
stdr_msgs/SoundSensorMsg[] soundSensors
stdr_msgs/ThermalSensorMsg[] thermalSensors

stdr_msgs/KinematicMsg kinematicModel

stdr_msgs/SoundSource¶

Field:	id (string) – dbs (float32) – pose (geometry_msgs/Pose2D) –

Source description

# Source description

string id
float32 dbs

# sensor pose, relative to the map origin
geometry_msgs/Pose2D pose 

stdr_msgs/Noise¶

Field:	noise (bool) – noiseMean (float32) – noiseStd (float32) –

bool noise
float32 noiseMean
float32 noiseStd

stdr_msgs/RobotIndexedVectorMsg¶

Field:	robots[] (stdr_msgs/RobotIndexedMsg) –

stdr_msgs/RobotIndexedMsg[] robots

stdr_msgs/RfidSensorMeasurementMsg¶

Field:	header (std_msgs/Header) – rfid_tags_ids[] (string) – rfid_tags_msgs[] (string) – rfid_tags_dbs[] (float32) –

Rfid sensor measurement description - all vectors must have the same size

# Rfid sensor measurement description - all vectors must have the same size
Header header

string[] rfid_tags_ids
string[] rfid_tags_msgs
float32[] rfid_tags_dbs

stdr_msgs/KinematicMsg¶

Field:	type (string) –

string type

stdr_msgs/CO2SensorMeasurementMsg¶

Field:	header (std_msgs/Header) – co2_ppm (float32) –

Sensor measurement description All vectors must have the same size

# Sensor measurement description
# All vectors must have the same size

Header header

float32 co2_ppm

stdr_msgs/ThermalSource¶

Field:	id (string) – degrees (float32) – pose (geometry_msgs/Pose2D) –

Source description

# Source description

string id
float32 degrees

# sensor pose, relative to the map origin
geometry_msgs/Pose2D pose 

stdr_msgs/SonarSensorMsg¶

Field:	maxRange (float32) – minRange (float32) – coneAngle (float32) – frequency (float32) – noise (stdr_msgs/Noise) – frame_id (string) – pose (geometry_msgs/Pose2D) –

Rfid sensor description

# Rfid sensor description
float32 maxRange
float32 minRange
float32 coneAngle

float32 frequency
stdr_msgs/Noise noise

string frame_id
geometry_msgs/Pose2D pose # sensor pose, relative to robot center

stdr_msgs/LaserSensorMsg¶

Field:	maxAngle (float32) – minAngle (float32) – maxRange (float32) – minRange (float32) – numRays (int32) – noise (stdr_msgs/Noise) – frequency (float32) – frame_id (string) – pose (geometry_msgs/Pose2D) –

Laser Sensor description

# Laser Sensor description
float32 maxAngle
float32 minAngle
float32 maxRange
float32 minRange
int32 numRays

stdr_msgs/Noise noise

float32 frequency

string frame_id
geometry_msgs/Pose2D pose # sensor pose, relative to robot center

stdr_msgs/RfidTagVector¶

Field:	rfid_tags[] (stdr_msgs/RfidTag) –

Rfid tag list

# Rfid tag list
stdr_msgs/RfidTag[] rfid_tags

stdr_msgs/FootprintMsg¶

Field:	points[] (geometry_msgs/Point) – radius (float32) –

geometry_msgs/Point[] points
float32 radius # for circular footprints

stdr_msgs/CO2SensorMsg¶

Field:	maxRange (float32) – frequency (float32) – frame_id (string) – pose (geometry_msgs/Pose2D) –

Sensor description

# Sensor description

float32 maxRange
float32 frequency
string frame_id

# sensor pose, relative to robot center
geometry_msgs/Pose2D pose 

stdr_msgs/SoundSensorMeasurementMsg¶

Field:	header (std_msgs/Header) – sound_dbs (float32) –

Sensor measurement description All vectors must have the same size

# Sensor measurement description
# All vectors must have the same size

Header header

float32 sound_dbs

stdr_msgs/ThermalSensorMeasurementMsg¶

Field:	header (std_msgs/Header) – thermal_source_degrees[] (float32) –

Sensor measurement description

# Sensor measurement description

Header header

float32[] thermal_source_degrees

stdr_msgs/SoundSensorMsg¶

Field:	maxRange (float32) – frequency (float32) – angleSpan (float32) – frame_id (string) – pose (geometry_msgs/Pose2D) –

Sensor description

# Sensor description

float32 maxRange
float32 frequency
float32 angleSpan
string frame_id

# sensor pose, relative to robot center
geometry_msgs/Pose2D pose 

stdr_msgs/RfidTag¶

Field:	tag_id (string) – message (string) – pose (geometry_msgs/Pose2D) –

Rfid tag description

# Rfid tag description

string tag_id
string message
geometry_msgs/Pose2D pose # sensor pose, relative to the map origin

stdr_msgs/SoundSourceVector¶

Field:	sound_sources[] (stdr_msgs/SoundSource) –

Sound sources list

# Sound sources list
stdr_msgs/SoundSource[] sound_sources

stdr_msgs/RfidSensorMsg¶

Field:	maxRange (float32) – angleSpan (float32) – signalCutoff (float32) – frequency (float32) – frame_id (string) – pose (geometry_msgs/Pose2D) –

Rfid sensor description

# Rfid sensor description
float32 maxRange
float32 angleSpan
float32 signalCutoff

float32 frequency

string frame_id
geometry_msgs/Pose2D pose # sensor pose, relative to robot center

stdr_msgs/ThermalSourceVector¶

Field:	thermal_sources[] (stdr_msgs/ThermalSource) –

Thermal sources list

# Thermal sources list
stdr_msgs/ThermalSource[] thermal_sources

stdr_msgs/CO2SourceVector¶

Field:	co2_sources[] (stdr_msgs/CO2Source) –

CO2 sources list

# CO2 sources list

stdr_msgs/CO2Source[] co2_sources

stdr_msgs/ThermalSensorMsg¶

Field:	maxRange (float32) – frequency (float32) – angleSpan (float32) – frame_id (string) – pose (geometry_msgs/Pose2D) –

Sensor description

# Sensor description

float32 maxRange
float32 frequency
float32 angleSpan
string frame_id

# sensor pose, relative to robot center
geometry_msgs/Pose2D pose 

Service types¶

• stdr_msgs/AddRfidTag
• stdr_msgs/LoadExternalMap
• stdr_msgs/AddThermalSource
• stdr_msgs/AddCO2Source
• stdr_msgs/LoadMap
• stdr_msgs/DeleteSoundSource
• stdr_msgs/DeleteRfidTag
• stdr_msgs/DeleteThermalSource
• stdr_msgs/AddSoundSource
• stdr_msgs/DeleteCO2Source
• stdr_msgs/RegisterGui
• stdr_msgs/MoveRobot

stdr_msgs/AddRfidTag¶

Field (Request):
	newTag (stdr_msgs/RfidTag) –
Field (Response):
	success (bool) – message (string) –

stdr_msgs/RfidTag newTag
---
bool success
string message

stdr_msgs/LoadExternalMap¶

Field (Request):
	map (nav_msgs/OccupancyGrid) –

nav_msgs/OccupancyGrid  map
---

stdr_msgs/AddThermalSource¶

Field (Request):
	newSource (stdr_msgs/ThermalSource) –
Field (Response):
	success (bool) – message (string) –

stdr_msgs/ThermalSource newSource
---
bool success
string message

stdr_msgs/AddCO2Source¶

Field (Request):
	newSource (stdr_msgs/CO2Source) –
Field (Response):
	success (bool) – message (string) –

stdr_msgs/CO2Source newSource
---
bool success
string message

stdr_msgs/LoadMap¶

Field (Request):
	mapFile (string) –

string mapFile
---

stdr_msgs/DeleteSoundSource¶

Field (Request):
	name (string) –

string name
---

stdr_msgs/DeleteRfidTag¶

Field (Request):
	name (string) –

string name
---

stdr_msgs/DeleteThermalSource¶

Field (Request):
	name (string) –

string name
---

stdr_msgs/AddSoundSource¶

Field (Request):
	newSource (stdr_msgs/SoundSource) –
Field (Response):
	success (bool) – message (string) –

stdr_msgs/SoundSource newSource
---
bool success
string message

stdr_msgs/DeleteCO2Source¶

Field (Request):
	name (string) –

string name
---

stdr_msgs/RegisterGui¶

Field (Response):
	robots[] (stdr_msgs/RobotIndexedMsg) –

---
stdr_msgs/RobotIndexedMsg[] robots

stdr_msgs/MoveRobot¶

Field (Request):
	newPose (geometry_msgs/Pose2D) –

geometry_msgs/Pose2D newPose
---

Action types¶

• stdr_msgs/DeleteRobot
• stdr_msgs/SpawnRobot
• stdr_msgs/RegisterRobot

stdr_msgs/DeleteRobot¶

Field (Goal):	name (string) –
Field (Result):	success (bool) –

goal definition

#goal definition
string name
---
#result definition
bool success
---
#feedback

stdr_msgs/SpawnRobot¶

Field (Goal):	description (stdr_msgs/RobotMsg) –
Field (Result):	indexedDescription (stdr_msgs/RobotIndexedMsg) – message (string) –

goal definition

#goal definition
stdr_msgs/RobotMsg description
---
#result definition
stdr_msgs/RobotIndexedMsg indexedDescription
string message
---
#feedback

stdr_msgs/RegisterRobot¶

Field (Goal):	name (string) –
Field (Result):	description (stdr_msgs/RobotMsg) –

goal definition

#goal definition
string name
---
#result definition
stdr_msgs/RobotMsg description
---
#feedback