ReMap msgs

A set of reMap related ROS 2 messages.

Service messages

remap_msgs/srv/AddPlugin

remap_msgs/srv/AddPlugin: a service message used to activate a reMap plugin. It is defined as:

string plugin_name
bool threaded
---
bool success

Where:

• plugin_name is the name of the plugin to activate.
• threaded is a flag to indicate if the plugin should use multithreading to accelerate its access to the semantic map (see remap_map_handler) (⚠️ Multithreading not supported yet ⚠️).
• success is a flag that indicates if the plugin was successfully activated.

remap_msgs/srv/RemovePlugin

remap_msgs/srv/RemovePlugin: a service message used to deactivate a reMap plugin. It is defined as:

string plugin_name
---
bool success

Where:

• plugin_name is the name of the plugin to deactivate.
• success is a flag that indicates if the plugin was successfully deactivated.

remap_msgs/srv/Query

remap_msgs/srv/Query: a service message used to query reMap. It is defined as:

# a set of partially bound statements (ie, some terms in the statement(s) are
# variables, starting with a '?')
string[] patterns

# the variables you want to be returned. If empty, all variables found in the
# patterns are returned
string[] vars

string[] models

# if dynamic is True, the query will be dinamically updated
bool dynamic

# the amount of time the point cloud result will be available.
# If duration is 0, the result will be available indefinitely.
builtin_interfaces/Duration duration

# the frequency at which the query will be updated
builtin_interfaces/Duration frequency

# if publish_tf is True, a transform will be published for each variable in the
# query; the transform will locate a frame (<id>/<variable>) placed in the
# centroid of the retrieved point cloud.
bool publish_tf

string id
---
bool success

# a JSON-encoded list of dictionaries, representing the result of the FIND
# method. Each key in the dictionaries correspond to one variable.
string json

# if success = False, error_msg might contain additional information about the
# failure.
string error_msg

It takes inspiration from the kb_msgs/srv/Query service message. Let's deep dive in each of these fields:

• patterns, vars and models are equivalent to the field with the same name defined in kb_msgs/srv/Query:
  • patterns: a list of strings, each one representing a partially bound statement. Each statement can contain variables, which are indicated with a ?.
  • vars: a list of strings, each one representing a variable. If empty, all variables found in the patterns are returned.
  • models: a list of strings, each one representing a model. If empty, all models are returned.
• dynamic: a flag to indicate if the query should be updated dynamically. If true, it will be continously computed, according to the frequency parameter. If false, it will be computed only once.
• duration: the amount of time the point cloud result will be available.
• frequency: the frequency at which the query will be updated. It is only used if dynamic is true.
• publish_tf: a flag to indicate if a transform should be published for each variable in the query. The transform will locate a frame (<id>/<variable>) placed in the centroid of the retrieved point cloud.
• id: a string that identifies the query.

The result fields are exactly the same as in kb_msgs/srv/Query:

• success: a flag that indicates if the query was successful.
• json: a JSON-encoded list of dictionaries, representing the result of the query.
• error_msg: if success is false, this field might contain additional information about the failure.

remap_msgs/srv/RemoveQuery

remap_msgs/srv/RemoveQuery: a service message used to remove a query. It is defined as:

string id
---
bool success

builtin_interfaces/Duration exec_left

Where:

• id: a string that identifies the query to remove.
• success: a flag that indicates if the query was successfully removed.
• exec_left: the amount of time left for the query to be executed.

License

This package is licensed under the Apache License 2.0. See LICENSE for details.

Authors

Developed by PAL Robotics, S.L.