🤖 ROS Related
📥 Subscribed Topics
s_graphs node
| Topic name | Message Type | Description |
|---|---|---|
/odom |
nav_msgs/Odometry | The odometry from the robot. |
/filtered_points |
sensor_msgs/PointCloud2 | The filtered data from the LiDAR sensor. |
room_segmentation node
| Topic name | Message Type | Description |
|---|---|---|
/s_graphs/map_planes |
s_graphs/PlanesData | Planes seen by the current robot keyframe. |
floor_plan node
| Topic name | Message Type | Description |
|---|---|---|
/s_graphs/all_map_planes |
visualization_msgs/MarkerArray | All the planes that have been seen by the robot. |
📤 Published Topics
s_graphs node
| Topic name | Message Type | Description |
|---|---|---|
/s_graphs/markers |
visualization_msgs/MarkerArray | These markers represent the different s_graphs layers. |
/s_graphs/odom2map |
geometry_msgs/TransformStamped | The estimated drift of the robot within its map frame (world). |
/s_graphs/odom_pose_corrected |
geometry_msgs/PoseStamped | The optimized/drift-free pose of the robot once odom2map is applied. |
/s_graphs/odom_path_corrected |
nav_msgs/Path | The optimized/drift-free pose path of the robot once the odom2map is applied. |
/s_graphs/map_points |
sensor_msgs/PointCloud2 | The projected 3D points using the optimized robot pose. |
/s_graphs/map_planes |
s_graphs/PlanesData | Planes seen by the current robot keyframe. |
/s_graphs/all_map_planes |
s_graphs/PlanesData | All the planes that have been seen by the robot. |
room_segmentation node
| Topic name | Message Type | Description |
|---|---|---|
/room_segmentation/room_data |
s_graphs/RoomsData | Contains all the necessary information about the rooms on a given floor. |
floor_plan node
| Topic name | Message Type | Description |
|---|---|---|
/floor_plan/floor_data |
s_graphs/RoomData | Contains all the necessary information about each floor. |
🔄 ROS Services
| Topic name | Message Type | Description |
|---|---|---|
/s_graphs/dump |
s_graphs/DumpGraph | Save all the internal data (point clouds, floor coeffs, odoms, and pose graph) to a directory. |
| Topic name | Message Type | Description |
|---|---|---|
/s_graphs/save_map |
s_graphs/SaveMap | Save the generated 3D map as a PCD file. |
⚙️ ROS Parameters
All the configurable parameters are listed in config folder as ros params.
🌐 Published TFs
-
map2odom: The transform published between the map frame and the odom frame after the corrections have been applied. -
The entire
tf_treefor the virtual experiment can be seen in the figure below.
