geographic_msgs

Summary

geographic_msgs
Version:

0.4.0
Description:

ROS messages for Geographic Information Systems.
Maintainers:
  • Jack O’Quin <jack DOT oquin AT gmail DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Jack O’Quin
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

geographic_msgs/RouteNetwork
Field:

Geographic map route network.

A directed graph of WayPoint nodes and RouteSegment edges. This information is extracted from the more-detailed contents of a GeographicMap. A RouteNetwork contains only the way points and route segments of interest for path planning.

# Geographic map route network.
#
# A directed graph of WayPoint nodes and RouteSegment edges.  This
# information is extracted from the more-detailed contents of a
# GeographicMap.  A RouteNetwork contains only the way points and
# route segments of interest for path planning.

Header          header

uuid_msgs/UniqueID id    # This route network identifier
BoundingBox     bounds   # 2D bounding box for network

WayPoint[]      points   # Way points in this network
RouteSegment[]  segments # Directed edges of this network

KeyValue[]      props    # Network key/value properties
geographic_msgs/GeographicMapChanges
Field:

A list of geographic map changes.

# A list of geographic map changes.

Header header                   # stamp specifies time of change
                                # frame_id (normally /map)

GeographicMap diffs             # new and changed points and features
uuid_msgs/UniqueID[] deletes    # deleted map components
geographic_msgs/GeoPoint
Field:
  • latitude (float64) –
  • longitude (float64) –
  • altitude (float64) –

Geographic point, using the WGS 84 reference ellipsoid.

Latitude [degrees]. Positive is north of equator; negative is south (-90 <= latitude <= +90).

# Geographic point, using the WGS 84 reference ellipsoid.

# Latitude [degrees]. Positive is north of equator; negative is south
# (-90 <= latitude <= +90).
float64 latitude

# Longitude [degrees]. Positive is east of prime meridian; negative is
# west (-180 <= longitude <= +180). At the poles, latitude is -90 or
# +90, and longitude is irrelevant, but must be in range.
float64 longitude

# Altitude [m]. Positive is above the WGS 84 ellipsoid (NaN if unspecified).
float64 altitude
geographic_msgs/GeoPose
Field:

Geographic pose, using the WGS 84 reference ellipsoid.

Orientation uses the East-North-Up (ENU) frame of reference. (But, what about singularities at the poles?)

# Geographic pose, using the WGS 84 reference ellipsoid.
#
# Orientation uses the East-North-Up (ENU) frame of reference.
# (But, what about singularities at the poles?)

GeoPoint position
geometry_msgs/Quaternion orientation
geographic_msgs/BoundingBox
Field:

Geographic map bounding box.

The two GeoPoints denote diagonally opposite corners of the box.

If min_pt.latitude is NaN, the bounding box is “global”, matching any valid latitude, longitude and altitude.

If min_pt.altitude is NaN, the bounding box is two-dimensional and matches any altitude within the specified latitude and longitude range.

# Geographic map bounding box. 
#
# The two GeoPoints denote diagonally opposite corners of the box.
#
# If min_pt.latitude is NaN, the bounding box is "global", matching
# any valid latitude, longitude and altitude.
#
# If min_pt.altitude is NaN, the bounding box is two-dimensional and
# matches any altitude within the specified latitude and longitude
# range.

GeoPoint min_pt         # lowest and most Southwestern corner
GeoPoint max_pt         # highest and most Northeastern corner
geographic_msgs/RouteSegment
Field:

Route network segment.

This is one directed edge of a RouteNetwork graph. It represents a known path from one way point to another. If the path is two-way, there will be another RouteSegment with “start” and “end” reversed.

# Route network segment.
#
# This is one directed edge of a RouteNetwork graph. It represents a
# known path from one way point to another.  If the path is two-way,
# there will be another RouteSegment with "start" and "end" reversed.

uuid_msgs/UniqueID id           # Unique identifier for this segment

uuid_msgs/UniqueID start        # beginning way point of segment
uuid_msgs/UniqueID end          # ending way point of segment

KeyValue[] props                # segment properties
geographic_msgs/WayPoint
Field:

Way-point element for a geographic map.

# Way-point element for a geographic map.

uuid_msgs/UniqueID id   # Unique way-point identifier
GeoPoint   position     # Position relative to WGS 84 ellipsoid
KeyValue[] props        # Key/value properties for this point
geographic_msgs/RoutePath
Field:

Path through a route network.

A path is a sequence of RouteSegment edges. This information is extracted from a RouteNetwork graph. A RoutePath lists the route segments needed to reach some chosen goal.

# Path through a route network.
#
# A path is a sequence of RouteSegment edges.  This information is
# extracted from a RouteNetwork graph.  A RoutePath lists the route
# segments needed to reach some chosen goal.

Header header

uuid_msgs/UniqueID   network    # Route network containing this path
uuid_msgs/UniqueID[] segments   # Sequence of RouteSegment IDs
KeyValue[]           props      # Key/value properties
geographic_msgs/GeographicMap
Field:

Geographic map for a specified region.

# Geographic map for a specified region.

Header header            # stamp specifies time
                         # frame_id (normally /map)

uuid_msgs/UniqueID id    # identifier for this map
BoundingBox  bounds      # 2D bounding box containing map

WayPoint[]   points      # way-points
MapFeature[] features    # map features
KeyValue[]   props       # map properties
geographic_msgs/MapFeature
Field:

Geographic map feature.

A list of WayPoint IDs for features like streets, highways, hiking trails, the outlines of buildings and parking lots in sequential order.

Feature lists may also contain other feature lists as members.

# Geographic map feature.
#
# A list of WayPoint IDs for features like streets, highways, hiking
# trails, the outlines of buildings and parking lots in sequential
# order.
#
# Feature lists may also contain other feature lists as members.

uuid_msgs/UniqueID   id         # Unique feature identifier
uuid_msgs/UniqueID[] components # Sequence of feature components
KeyValue[] props                # Key/value properties for this feature
geographic_msgs/KeyValue
Field:
  • key (string) –
  • value (string) –

Geographic map tag (key, value) pair

This is equivalent to diagnostic_msgs/KeyValue, repeated here to avoid introducing a trivial stack dependency.

# Geographic map tag (key, value) pair
#
# This is equivalent to diagnostic_msgs/KeyValue, repeated here to
# avoid introducing a trivial stack dependency.

string key                     # tag label
string value                   # corresponding value

Service types

geographic_msgs/GetGeographicMap
Field (Request):
 
Field (Response):
 

This service requests a region of a geographic map.

# This service requests a region of a geographic map.

string url            # where to read map data

# Bounding box for the desired map.  If all zeros, provide all data
# available from the specified URL.
BoundingBox bounds

---

bool success          # true if the call succeeded
string status         # more details

# The requested map, its bounds may differ from the requested bounds.
GeographicMap map
geographic_msgs/GetRoutePlan
Field (Request):
 
Field (Response):
 

Get a plan to traverse a route network from start to goal.

Similar to nav_msgs/GetPlan, but constrained to use the route network.

# Get a plan to traverse a route network from start to goal.
#
# Similar to nav_msgs/GetPlan, but constrained to use the route network.

uuid_msgs/UniqueID network      # route network to use
uuid_msgs/UniqueID start        # starting way point
uuid_msgs/UniqueID goal         # goal way point

---

bool            success         # true if the call succeeded
string          status          # more details

RoutePath       plan            # path to follow
geographic_msgs/UpdateGeographicMap
Field (Request):
 
Field (Response):
 
  • success (bool) –
  • status (string) –

This service updates a geographic map.

Changes to geographic map.

# This service updates a geographic map.

# Changes to geographic map.
GeographicMapChanges updates

---

bool   success        # true if the call succeeded
string status         # more details