[ros-users] Standardization of mapping interfaces

Mani Monajjemi mani.monajjemi at gmail.com
Mon Nov 5 22:38:02 UTC 2012

I am so sorry about my previous email, I sent it to the wrong topic.


On Mon, Nov 5, 2012 at 2:17 PM, Mani Monajjemi <mani.monajjemi at gmail.com>wrote:

> Hi,
> I've noticed that, many
> <https://www.google.com/search?q=The%20doc%20job%20status%20for%20is%20currently%20UNSTABLE>wiki
> page<https://www.google.com/search?q=The%20doc%20job%20status%20for%20is%20currently%20UNSTABLE>
> s<https://www.google.com/search?q=The%20doc%20job%20status%20for%20is%20currently%20UNSTABLE>generated by the new system has
> this error in their headers:
> *The doc job status for <package-distro> is currently UNSTABLE. See
> jenkins for details.
> *I went through the jenkin's console outputs and I found different errors
> for different packages. Is it the task of package maintainers to solve the
> problems or is there any problems with the new system? Some errors are
> weird, like "
> [rospack] Error: package/stack <package> depends on non-existent package roscpp
> "
> *
> *Best,
> Mani
> Mani Monajjemi
> On Thu, Oct 4, 2012 at 10:49 AM, Stéphane Magnenat <
> stephane.magnenat at mavt.ethz.ch> wrote:
>> Hello,
>> I am working on the release of our modular ICP pipeline [1] (2D and 3D),
>> which provides a mapping-style interface. While doing so, I realized that
>> some features are commonly available in mapping packages, like getting the
>> latest version of the map or reseting it. However, I have not find any
>> standard to do so. Worst, while for 2D there is a message nav_msgs::GetMap,
>> there is no standard equivalent in 3D. To allow easy interoperability
>> between packages doing the same thing, it is important to have these.
>> So here are my suggestions:
>> - To add a GetPointMap message similar to GetMap but taking a PointCloud2
>> instead of an OccupancyGrid. This could either be added to nav_msgs or to
>> something new like nav3d_msgs or map3d_msgs within common_msgs.
>> - To define a standard interface for interacting with mapping packages.
>> If we consider existing packages, (for instance gmapping, hector_mapping),
>> there is a "dynamic_map" service that returns the latest map. While this
>> naming is strange, it is the closest thing to a standard that we have.
>> Should we extend it in 3D to have a dynamic_point_map service? Also, should
>> we generalize the "syscommand" topic, which is a bit awkward, or maybe add
>> something like a "reset" service? We might also want to save and load maps.
>> Comments welcome, I think it would be great if we could improve the
>> interoperability of mapping packages.
>> Stéphane
>> [1] http://www.ros.org/wiki/**modular_cloud_matcher<http://www.ros.org/wiki/modular_cloud_matcher>
>> --
>> Dr Stéphane Magnenat
>> http://stephane.magnenat.net
>> ______________________________**_________________
>> ros-users mailing list
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