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msg_type.txt
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msg_type.txt
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oculus_cam_viewer:
published:
"/mapConfig" (map2image::mapConfig): information for the map publisher (size and stuff)
subscribed:
"/camera/left/image_rect_color" (sensor_msgs::ImageConstPtr): left_image
"/camera/right/image_rect_color" (sensor_msgs::ImageConstPtr): right_image
"/oculus/hmdinfo" (oculus_msgs::HMDInfoPtr): HMD info (resolution, lens position and stuff)
"/oculus/orientation_stamped" (geometry_msgs::PoseStamped): orientation of the HMD (head tracking)
"/headunit/orientation_stamped" (geometry_msgs::PoseStamped): orientation of the camera (for virtual pan-tilt-roll)
"/rosaria/pose" (nav_msgs::Odometry): odometry data of the robot
"/mapimage" (sensor_msgs::ImageConstPtr): image of the map
parameters:
"showMap" (bool): show the map (default: true)
"useVirtualPanTilt" (bool): use virtual pan-tilt-roll (default: true)
"measurement" (bool): console outputs of measurements (default: false)
"useRobotOrientation" (bool): uses the robot orientation additional to the HMD orientation for virtual panning (default: false)
"rotateThreshold" (double): minimum degree value for rotation (default: 3.0)
-----------
map2image:
published:
"/mapimage" (sensor_msgs::ImageConstPtr): image of the map
subscribed:
"/map" (nav_msgs::OccupancyGrid::ConstPtr): map (SLAM or dummy)
"/rosaria/pose" (nav_msgs::Odometry): odometry data of the robot
"/mapConfig" (map2image::mapConfig): map information about size and stuff
parameters:
"drawArrow" (bool): draws a arrow in the center of the map that points upwards (default: false)
"drawCircle" (bool): draws a point in the center of the map (default: false)
"drawCone" (bool): draws a cone that begins in the center and opens upwards to show the field of view (default: false)
"biggerImageForRotation" (bool): publish a bigger map than the mapConfig says, so in can be rotated without data loss (default: false)
"useRotation" (bool): rotate the map according to the robot odometry data (default: false)
"mapRange" (double): visible area (width and height) of the map in meters (default: 10.0)
-----------
dummyMapPublisher:
published:
"/map" (nav_msgs::OccupancyGrid::ConstPtr): map created from the image file in the folder
subscribed:
-
parameters:
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