Only released in EOL distros:   hydro indigo jade kinetic

Nodes

stdr_server_node

The stdr_server_node node implements the synchronization and coordination functionalities of stdr_simulator. It is used to serve the static map, which represents the simulated environment and keeps track of active robots.

Action API (Internal Usage)

The stdr_server_node node provides several action server implementations used for robot handling and coordination.

Action Topics

spawn_robot (stdr_msgs/SpawnRobotAction)

• Action to spawn a new robot. Called either from STDR GUI or from robot_handler node.

delete_robot (stdr_msgs/DeleteRobotAction)

• Action to handle robot deletion. Called either from STDR GUI or from robot_handler node.

register_robot (stdr_msgs/RegisterRobotAction)

• Action to register a newly spawned robot. Called from stdr_robot nodelet itself, serves synchronization purposes.

Published Topics

map (nav_msgs/OccupancyGrid)

• The world to be used at simulation, loaded as a map. Delegated to robots and GUIs, using a latched publisher.

map_metadata (nav_msgs/MapMetaData)

• Publishes the map metadata.

active_robots (stdr_msgs/RobotIndexedVectorMsg)

• Publishes active robots when a deletion or an addition takes place, using a latched topic.

Services

load_static_map (stdr_msgs/LoadMap)

• Allows an external user to load a map, providing the map filename.

load_static_map_external (stdr_msgs/LoadExternalMap)

• Allows an external user to load a map, providing an nav_msgs/OccupancyGrid. Used by map_loader_node, see below.

Services Called

robot_manager/load_nodelet (nodelet/NodeletLoad)

• Called to load a new robot.

robot_manager/unload_nodelet (nodelet/NodeletUnload)

• Called to unload/delete a robot.

Provided tf Transforms

world → map

• represents the map origin described in map description file. See map_server package for details.

world → map_static

• frame fixed to bottom left corner of the static map, regardless of the map origin. Useful for geometric calculations.

Command-Line Usage

stdr_server_node can run without any command-line arguments and simply waits until someone calls either load_static_map or load_static_map_external service. There is an option to run stdr_server_node passing an image file to load as the static map or you can include it to a launch file using the args option.

$ rosrun stdr_server stdr_server_node <map_file.yaml>

map_loader_node

The map_loader_node node uses map_server's image_loader library to load an map image from a file, fill a nav_msgs/OccupancyGrid message, call load_static_map_external service and load it to the simulator. The loading functionality is also provided in map_loader library and can be used by other packages.

Command-Line Usage

$ rosrun stdr_server load_map <map_file.yaml>

Tutorials

For tutorials see stdr_simulator/Tutorials.