mrpt_msgs¶

Message types¶

• mrpt_msgs/ObservationRangeBearing
• mrpt_msgs/SingleRangeBearingObservation

mrpt_msgs/ObservationRangeBearing¶

Field:	header (std_msgs/Header) – sensor_pose_on_robot (geometry_msgs/Pose) – min_sensor_distance (float64) – max_sensor_distance (float64) – sensor_std_range (float64) – sensor_std_yaw (float64) – sensor_std_pitch (float64) – sensed_data[] (mrpt_msgs/SingleRangeBearingObservation) –

This message holds an observation of one or more landmarks

detected by their range (distance) + bearing (2 or 3 angles) from some sensor on the robot.

Time of sensor data acquisition, coordinate frame ID.

# This message holds an observation of one or more landmarks 
#  detected by their range (distance) + bearing (2 or 3 angles) 
#  from some sensor on the robot.

# Time of sensor data acquisition, coordinate frame ID.
Header header

# The sensor pose on the robot coordinates frame.
geometry_msgs/Pose sensor_pose_on_robot

# Sensor characteristics:
float64 min_sensor_distance   # In meters (m)
float64 max_sensor_distance   # (m)

# Typical sensor noise:
float64 sensor_std_range      # (m)
float64 sensor_std_yaw        # (rad)
float64 sensor_std_pitch      # (pitch)

# The vector of individual observations
SingleRangeBearingObservation[] sensed_data

mrpt_msgs/SingleRangeBearingObservation¶

Constant:	INVALID_LANDMARK_ID (int32):-1 –
Field:	range (float64) – yaw (float64) – pitch (float64) – id (int32) –

int32 INVALID_LANDMARK_ID = -1


float64  range    # Distance, in meters.
float64  yaw      # Angle wrt +Z (rads)
float64  pitch    # Angle wrt +Y (rads)
int32    id       # Landmark ID (or INVALID_LANDMARK_ID if landmarks are not identified)