Package Summary

Localizing jockey from LaserScan Implement a localizing jockey from a LaserScan. The associated descriptor are LaserScan[] and Crossing.

Maintainer status: developed
Maintainer: Gaël Ecorchard <gael.ecorchard AT ciirc.cvut DOT cz>
Author: Gaël Ecorchard <gael.ecorchard AT ciirc.cvut DOT cz>
License: BSD
Bug / feature tracker: https://github.com/lama-imr/lama_laser/issues
Source: git https://github.com/lama-imr/lama_laser.git (branch: indigo-devel)

Contents

Overview
Usage
1. ROS API

Overview

The lj_laser package is a localizing jockey for the Large Maps Framework (LaMa) that computes place dissimilarities based on a 360-degree sensor_msgs/LaserScan.

The role of this jockey is to get the dissimilarity of the sensor_msgs/LaserScan descriptors of all vertices with the current place profile (represented by a sensor_msgs/LaserScan). The action is done when the dissimilarities are computed. Implemented actions:

GET_VERTEX_DESCRIPTOR: return the ids of the LaserScan descriptor and the computed Crossing descriptor
GET_SIMILARITY: return the dissimilarity based on sensor_msgs/LaserScan

Usage

ROS API

Interaction with the map (created by this jockey)

[Getter][/][Setter]	message type	interface default name
Getter/Setter	VectorLaserScan	jockey_name + "_laser"
Setter	lama_msgs/Crossing	jockey_name + "_crossing"

Subscribed Topics

~<name>/base_scan (sensor_msgs/LaserScan)

360-degree laser-scan

Services

~<name>/dissimilarity_server (polygon_matcher/PolygonDissimilarity)

used to compare all known places (as polygons) with the current place.

Parameters

~<name>/laser_interface_name (String, default: jockey_name + "_laser")

Name of the map interface for laser-scans.

~<name>/crossing_interface_name (String, default: jockey_name + "_crossing")

Name of the map interface for crossings.

~<name>/dissimilarity_server_name (String, default: "dissimilarity_server")

Name of the dissimilarity server.