map_msgs¶

Message types¶

• map_msgs/PointCloud2Update
• map_msgs/ProjectedMap
• map_msgs/OccupancyGridUpdate
• map_msgs/ProjectedMapInfo

map_msgs/PointCloud2Update¶

Constant:	ADD (uint32):0 – DELETE (uint32):1 –
Field:	header (std_msgs/Header) – type (uint32) – points (sensor_msgs/PointCloud2) –

uint32 ADD=0
uint32 DELETE=1
Header header
uint32 type          # type of update, one of ADD or DELETE
sensor_msgs/PointCloud2 points

map_msgs/ProjectedMap¶

Field:	map (nav_msgs/OccupancyGrid) – min_z (float64) – max_z (float64) –

nav_msgs/OccupancyGrid map
float64 min_z
float64 max_z

map_msgs/OccupancyGridUpdate¶

Field:	header (std_msgs/Header) – x (int32) – y (int32) – width (uint32) – height (uint32) – data[] (int8) –

Header header
int32 x
int32 y
uint32 width
uint32 height
int8[] data

map_msgs/ProjectedMapInfo¶

Field:	frame_id (string) – x (float64) – y (float64) – width (float64) – height (float64) – min_z (float64) – max_z (float64) –

string frame_id
float64 x
float64 y
float64 width
float64 height
float64 min_z
float64 max_z

Service types¶

• map_msgs/SaveMap
• map_msgs/SetMapProjections
• map_msgs/GetMapROI
• map_msgs/GetPointMapROI
• map_msgs/ProjectedMapsInfo
• map_msgs/GetPointMap

map_msgs/SaveMap¶

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

Save the map to the filesystem

# Save the map to the filesystem
std_msgs/String filename 

map_msgs/SetMapProjections¶

Field (Response):
	projected_maps_info[] (map_msgs/ProjectedMapInfo) –

---
map_msgs/ProjectedMapInfo[] projected_maps_info

map_msgs/GetMapROI¶

Field (Request):
	x (float64) – y (float64) – l_x (float64) – l_y (float64) –
Field (Response):
	sub_map (nav_msgs/OccupancyGrid) –

float64 x
float64 y
float64 l_x
float64 l_y
---
nav_msgs/OccupancyGrid sub_map

map_msgs/GetPointMapROI¶

Field (Request):
	x (float64) – y (float64) – z (float64) – r (float64) – l_x (float64) – l_y (float64) – l_z (float64) –
Field (Response):
	sub_map (sensor_msgs/PointCloud2) –

float64 x
float64 y
float64 z
float64 r    # if != 0, circular ROI of radius r
float64 l_x  # if r == 0, length of AABB on x
float64 l_y  # if r == 0, length of AABB on y
float64 l_z  # if r == 0, length of AABB on z
---
sensor_msgs/PointCloud2 sub_map

map_msgs/ProjectedMapsInfo¶

Field (Request):
	projected_maps_info[] (map_msgs/ProjectedMapInfo) –

map_msgs/ProjectedMapInfo[] projected_maps_info

map_msgs/GetPointMap¶

Field (Response):
	map (sensor_msgs/PointCloud2) –

# Get the map as a sensor_msgs/PointCloud2 
---
sensor_msgs/PointCloud2 map