Documentation Status

geographic_info: geodesy | geographic_msgs

Package Summary

Documented

ROS messages for Geographic Information Systems.

geographic_info: geodesy | geographic_msgs

Package Summary

Documented

ROS messages for Geographic Information Systems.

geographic_info: geodesy | geographic_msgs

Package Summary

Documented

ROS messages for Geographic Information Systems.

geographic_info: geodesy | geographic_msgs

Package Summary

Released Continuous integration Documented

ROS messages for Geographic Information Systems.

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Geographic information messages.

ROS Message / Service Types

ROS Message Types ROS Service Types
BoundingBox
GeoPath
GeoPoint
GeoPointStamped
GeoPose
GeoPoseStamped
GeographicMap
GeographicMapChanges
KeyValue
MapFeature
RouteNetwork
RoutePath
RouteSegment
WayPoint
GetGeoPath
GetGeographicMap
GetRoutePlan
UpdateGeographicMap

Unique Identifiers

Map points, features and segments all have universally unique identifier names (UUID), using uuid_msgs/UniqueID messages.

Each UUID is stored as an array of unsigned bytes. UUID generation is up to the programmer, but the intent is for matching features within a domain such as Open Street Map to yield the same UUID. The unique_id package provides C++ and Python interfaces for generating them: use the fromURL() method on a URL constructed from the map source.

For example, the Open Street Map URL scheme is:

  • http://openstreetmap.org/node/999999

  • http://openstreetmap.org/way/999999

  • http://openstreetmap.org/relation/999999

Here, 999999 is the decimal representation of the integer OSM node, way, or relation ID without leading zeros.

Other map sources should use similar conventions.

Cartography

The geographic_msgs/GetGeographicMap service takes a map URL and optional geographic_msgs/BoundingBox, returning a geographic_msgs/GeographicMap,

The map contains a geographic_msgs/WayPoint vector and a geographic_msgs/MapFeature vector. Each point or feature is identified by a geographic_msgs/UniqueID, and optional geographic_msgs/KeyValue properties describing their roles.

Features represent any interesting collection of map points: hiking trails, bicycle paths, streets, highways, tunnels, bridges, rivers, buildings, property boundaries, etc. They contain a sequence of component unique identifiers, which may name points or other features. A feature may not directly or indirectly contain itself, so its subordinate points and features must form a tree structure. But, a feature may belong to more than one higher-level feature.

Route Network

Not all way points in a map are drivable by any particular vehicle. Some delimit buildings, rivers, or property boundaries. The geographic_msgs/RouteNetwork message represents drivable paths as a directed graph using a geographic_msgs/WayPoint vector and a geographic_msgs/RouteSegment vector. Each segment represents an edge from one point to another. Unless the path is one-way, another segment will point in the opposite direction.

Wiki: geographic_msgs (last edited 2013-05-10 22:11:06 by JackOQuin)