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Package Summary

Localizing jockey from LaserScan Implement a localizing jockey from a LaserScan. The associated descriptor are LaserScan[] and Crossing.

Overview

The lj_laser package is a localizing jockey for the Large Maps Framework (LaMa) that computes place dissimilarities based on a 360-degree sensor_msgs/LaserScan.

The role of this jockey is to get the dissimilarity of the sensor_msgs/LaserScan descriptors of all vertices with the current place profile (represented by a sensor_msgs/LaserScan). The action is done when the dissimilarities are computed. Implemented actions:

Usage

ROS API

Interaction with the map (created by this jockey)

[Getter][/][Setter]

message type

interface default name

Getter/Setter

VectorLaserScan

jockey_name + "_laser"

Setter

lama_msgs/Crossing

jockey_name + "_crossing"

Subscribed Topics

~<name>/base_scan (sensor_msgs/LaserScan)

Services

~<name>/dissimilarity_server (polygon_matcher/PolygonDissimilarity)

Parameters

~<name>/laser_interface_name (String, default: jockey_name + "_laser") ~<name>/crossing_interface_name (String, default: jockey_name + "_crossing") ~<name>/dissimilarity_server_name (String, default: "dissimilarity_server")


2019-07-20 12:53