Contents
Overview
This experimental package is in an early rapid-prototyping phase. The initial goal is to demonstrate the feasibility of the geographic_info API for working with Open Street Map information.
These interfaces are still changing rapidly, nothing is stable yet.
ROS Nodes
plan_route
ROS node that reads route network messages, and provides a route planning service.Subscribed Topics
route_network (geographic_msgs/RouteNetwork)- Graph of drivable routes.
Services
get_route_plan (geographic_msgs/GetRoutePlan)- Determine path to from start to goal way point.
route_network
ROS node that gets a geographic map from a server (like the osm_server node), and publishes a route network graph based on it.Published Topics
route_network (geographic_msgs/RouteNetwork)- Graph of drivable routes.
Services Called
get_geographic_map (geographic_msgs/GetGeographicMap)- Get map of current region.
Parameters
map_url (string)- Uniform Resource Locator for the map (see osm_cartography for details).
viz_routes
ROS node that reads route network messages, and publishes rviz visualization markers.Subscribed Topics
route_network (geographic_msgs/RouteNetwork)- Graph of drivable routes.
Published Topics
visualization_marker_array (visualization_msgs/MarkerArray)- Markers for visualizing the route network.
