define an interface inkl. meta data

[bastinat0r]

• multiple localisations in parallel (n-systems localise m-robots)
• aggregate localisation is possible
• different origins

[bastinat0r]

• [x] document your specification

[maz3max]

Proposal for interface - Update 2

TF

• world: root coordinate system
  • loc_system_<name>: root coordinate system of particular localisation system
    • loc_system_<name>/target<j>: target coordinate system

Only publish transformations between adjacent coordinate systems! Mapping from target to robot has to be done separately.

Additional ROS Topics

• /loc_system_meta_<name>: localisation_msgs/localisation_meta

localisation_msgs/localisation_meta consist of has_orientation: bool correct_mapping: bool accuracy: float64

[Scyten]

python snipped:

import rospy
from localisation_msgs.msg import localisation_meta

locSystemName = "fakelocalisation"

rospy.init_node(locSystemName)
topic_metadata = rospy.Publisher('loc_system_meta_' + locSystemName, localisation_meta,  queue_size=1)

localisation_meta_msg = localisation_meta()
localisation_meta_msg.has_orientation = True
localisation_meta_msg.correct_mapping = True
localisation_meta_msg.accuracy = 1

topic_metadata.publish(localisation_meta_msg);

[jbeckhaus]

DONE (only for documentation reasons still open)

[Scyten]

I think if needed, we can look up this in the code or the closed issues.