Only released in EOL distros:
Package Summary
Implements a localizing jockey for the Large Maps framework (LaMa) based on a local costmap (costmap position is relative to the sensor but orientation is absolute). Implement a localizing jockey from a LaserScan. The associated descriptors are LaserScan[] and Crossing.
- Maintainer status: developed
- Maintainer: Gaël Ecorchard <gael.ecorchard AT ciirc.cvut DOT cz>
- Author: Gaël Ecorchard <gael.ecorchard AT ciirc.cvut DOT cz>
- License: BSD
- Bug / feature tracker: https://github.com/lama-imr/lama_costmap/issues
- Source: git https://github.com/lama-imr/lama_costmap.git (branch: indigo-devel)
Contents
Overview
The lj_costmap package is a localizing jockey for the Large Maps Framework (LaMa) that computes place dissimilarities based on a local cost map, such as those obtained from the local_map package.
The role of this jockey is to get the dissimilarity of the lama_msgs/PlaceProfile descriptors of all vertices with the current place profile. The action is done when the dissimilarities are computed. Implemented actions:
GET_VERTEX_DESCRIPTOR: return the PlaceProfile and the computed Crossing
GET_SIMILARITY: return the dissimilarity based on PlaceProfile
Usage
ROS API
Interaction with the map (created by this jockey)
[Getter][/][Setter] |
message type |
interface default name |
Getter/Setter |
jockey_name + "_place_profile" |
|
Setter |
jockey_name + "_crossing" |
Subscribed Topics
~<name>/local_costmap (nav_msgs/OccupancyGrid)- local cost map which orientation is global, cf. local_map.
Services
~<name>/dissimilarity_server (polygon_matcher/PolygonDissimilarity)- used to compare all known places (as polygons) with the current place.
Parameters
~<name>/costmap_interface_name (String, default: jockey_name + "_place_profile")- Name of the map interface for place profiles.
- Name of the map interface for crossings.
- Name of the dissimilarity server.
