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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/irvs/ros2_tms_for_construction.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-12-13 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The tms_sd_ground package
Additional Links
Maintainers
- Ryuichi Maeda
Authors
- Ryuichi Maeda
tms_sd_ground
tms_sd_ground is a package for formatting OccupancyGrid msg to Tmsdb msg and sending it to tms_db_writer.
Though OccupancyGrid msg is originally used to store the probability of grid occupancy, this msg can be used for various 2D grid maps such as ground stiffness.
OccupancyGrid msg topic is transformed by ground_tf_broadcaster node.
Usecase
1. Run tms_db_writer or tms_db_manager
Detail description is here.
Receive Tmsdb from tms_sd_ground and store them in ROS2-TMS database.
Writer
ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true
Reader and Writer
ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true
2. Run tms_sd_ground
After the below command, a node is executed that subscribes OccupancyGrid and publishes Tmsdb including the OccupancyGrid.
ros2 launch tms_sd_ground tms_sd_ground_launch.py input/occupancy_grid:=/topic/of/occupancy_grid ground_name:=construction_ground to_frame:=world
Inputs / Outputs
Inputs
| Name | Type | Description |
|---|---|---|
/input/occupancy_grid |
nav_msgs::msg::OccupancyGrid |
heatmap showing the hardness of the ground |
Outputs
| Name | Type | Description |
|---|---|---|
/tms_db_data |
tms_msg_db::msg::Tmsdb |
Tmsdb including OccupancyGrid |
Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
ground_name |
string | ground_name |
ground name to identify ground from the ROS2-TMS database |
to_frame |
string | world |
target frame_id |
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tms_sd_ground at Robotics Stack Exchange
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