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Add nav_msgs/PoseParticle and nav_msgs/PoseParticleCloud messages #118

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Add nav_msgs/PoseParticle and nav_msgs/PoseParticleCloud messages #118

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03d3588
Add nav_msgs/Particle and nav_msgs/ParticleCloud messages
naiveHobo May 19, 2020
a8588d9
Rename to PoseParticle
naiveHobo May 19, 2020
f11e15c
Fix Particle msg reference in PoseParticleCloud
naiveHobo May 19, 2020
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2 changes: 2 additions & 0 deletions nav_msgs/CMakeLists.txt
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Expand Up @@ -21,6 +21,8 @@ set(msg_files
"msg/MapMetaData.msg"
"msg/OccupancyGrid.msg"
"msg/Odometry.msg"
"msg/PoseParticle.msg"
"msg/PoseParticleCloud.msg"
"msg/Path.msg"
)
set(srv_files
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2 changes: 2 additions & 0 deletions nav_msgs/README.md
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Expand Up @@ -11,6 +11,8 @@ For more information about ROS 2 interfaces, see [index.ros2.org](https://index.
* [MapMetaData](msg/MapMetaData.msg): Basic information about the characteristics of the OccupancyGrid.
* [OccupancyGrid](msg/OccupancyGrid.msg): Represents a 2-D grid map, in which each cell represents the probability of occupancy.
* [Odometry](msg/Odometry.msg): This represents an estimate of a position and velocity in free space.
* [PoseParticle](msg/PoseParticle.msg): This represents an individual particle with weight produced by a particle filter.
* [PoseParticleCloud](msg/PoseParticleCloud.msg): This represents a particle cloud containing particle poses and weights.
* [Path](msg/Path.msg): An array of poses that represents a Path for a robot to follow.

## Services (.srv)
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5 changes: 5 additions & 0 deletions nav_msgs/msg/PoseParticle.msg
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@@ -0,0 +1,5 @@
# This represents an individual particle with weight produced by a particle filter
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Is this message designed to be used standalone without being inside the cloud below? If so it needs more information. If not it should be documented as such.

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Ok, we can document it more, it probably does not have a bunch of value outside of the cloud message, but a weighed pose could have general value in other areas as well.


geometry_msgs/Pose pose

float64 weight
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What is this weight? It needs a semantic meaning and to have clearly defined units so that different implementers don't end up with incompatible semantics.

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See comment below

6 changes: 6 additions & 0 deletions nav_msgs/msg/PoseParticleCloud.msg
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# This represents a particle cloud containing particle poses and weights

std_msgs/Header header

# Array of particles in the cloud
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If just the collection of the particles enough to communicate everything about the state of the particle filter?

This would probably be a good place to capture more of the cloud parameters. Such as any other components of the state of the particle filter.

PoseParticle[] particles