Add LoadMap service - Githubissues

ros / common_msgs

Commonly used messages in ROS. Includes messages for actions (actionlib_msgs), diagnostics (diagnostic_msgs), geometric primitives (geometry_msgs), robot navigation (nav_msgs), and common sensors (sensor_msgs), such as laser range finders, cameras, point clouds.

http://wiki.ros.org/common_msgs

179 stars 191 forks source link

Add LoadMap service #95

Closed jacobperron closed 4 years ago

jacobperron commented 7 years ago

The service is for loading a map as an nav_msgs/OccupancyGrid given a resource ID. It also features a result member to encode errors. I tried to make the result codes generic enough for support of arbitrary backends and underlying data structures.

This could be implemented in a map_loader node or directly in map_server seeing how it already "loads" a map on startup.

jacobperron commented 7 years ago

Attempt to resolve #94

tfoote commented 7 years ago

Thanks for submitting this. It's updated the service to use a string id instead of a path. And having the result codes is a good addition. However it needs a very clear semantic of how to resolve the resource id such that alternative implementations would behave similarly.

jack-oquin commented 7 years ago

Making it a string requires clearly defining the semantics. The obvious choice is a URL, with at least these options provided:

file:///path/to/local/file.yaml
package://our_maps_package/maps/floor3.yaml

Other nice-to-have schemes could include http:, https:, and remote file:.

doisyg commented 4 years ago

Can we merge this? This is blocking for : https://github.com/ros-planning/navigation/pull/461

jacobperron commented 4 years ago

Since I've lost access to the origin repository, I've opened a continuation PR https://github.com/ros/common_msgs/pull/152. I've made changes there to switch to URL semantics.