Package Summary

Localizing jockey from LaserScan and absolute heading. Implements a localizing jockey from a LaserScan and absolute heading. The associated descriptors are sensor_msgs/LaserScan[] and lama_msgs/Crossing.

Overview

The lj_laser_heading package implements a localizing jockey that computes place dissimilarities based on a sensor_msgs/LaserScan and absolute heading. The behavior and properties are similar to those of the lj_laser jockey. The heading is given either as geometry_msgs/Pose or nav_msgs/Odometry.

The role of this jockey is to get the dissimilarity of the sensor_msgs/LaserScan descriptor 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)
  • 360-degree laser-scan
~<name>/pose (invalid message type for MsgLink(msg/type)) ~<name>/odom (invalid message type for MsgLink(msg/type))

Services

~<name>/dissimilarity_server (polygon_matcher/PolygonDissimilarity)
  • used to compare all known places (as polygons) with the current place.

Parameters

~<name>/laser_interface_name (String, default: jockey_name + "_laser")
  • Name of the map interface for laser-scans.
~<name>/crossing_interface_name (String, default: jockey_name + "_crossing")
  • Name of the map interface for crossings.
~<name>/dissimilarity_server_name (String, default: "dissimilarity_server")
  • Name of the dissimilarity server.

Wiki: lj_laser_heading (last edited 2015-01-06 14:11:37 by GaelEcorchard)