To use this package you will need to have the following Robotnik packages installed:
- robotnik_msgs 🔗
A ROS node to manage the points of interest in a map. It reads a list of tagged positions from a YAML file and offers services to obtain the list and update it.
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~filename (String, default: "test"): Name of the file that contains the saved POIs.
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~folder (String, default: "/path/to/poi_manager/config"): Folder location of the file that contains the saved POIs.
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~publish_markers (Bool, default: False): Flag to enable the publication of the POIs as visualization_msgs/MarkerArray
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~marker_topic (String, default: "markers"): Topic name where markers are published. Only used if publish_markers is true.
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~frequency (Float, default: 0.5): Markers publication frequency. Only used if publish_markers is true.
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~frame_id (String, default: "map"): Frame id at which the markers are published. Only used if publish_markers is true
poi_manager does not subscirbe to any topic.
- poi_manager/markers (visualization_msgs/MarkerArray): POIs published as MarkerArray to visualize them in RVIZ
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poi_manager/read_pois (poi_manager/ReadPOIs): Loads the file where the POIs are stored.
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poi_manager/update_pois (poi_manager/UpdatePOIs): Saves a list of poi_manager/LabeledPose as POIs in the config file.
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poi_manager/getPOI (robotnik_msgs/GetPOI): Given a POI name, returns its pose as geometry_msgs/Pose2D.
poi_manager does not call to any service server.
poi_manager does not implement any action server.
poi_manager does not call to any action.
poi_manager does not require any tf.
poi_manager does not provide any tf.
To launch the node:
roslaunch poi_manager poi_manager.launch id_robot:=robot