slamware_ros_sdk_server_node Node
slamware_ros_sdk_server_node node connects to Slamware-based robots, publishes maps, poses, status, and receives control commands.
1. Subscribed Topics
/cmd_vel (geometry_msgs/Twist)
Linear and angular speed command to robot
/move_base_simple/goal (geometry_msgs/PoseStamped)
Specify the goal of robot (with yaw control, precise mode)
sync_map (slamware_ros_sdk/SyncMapRequest)
Sync whole map from Slamware
slamware_ros_sdk/SyncMapRequest |
---|
File |
---|
slamware_ros_sdk/msg/SyncMapRequest.msg |
Definition |
---|
None |
set_pose (geometry_msgs/Pose)
Set current pose of the robot
recover_localization (slamware_ros_sdk/RecoverLocalizationRequest)
Trigger relocalization operation of the robot
slamware_ros_sdk/RecoverLocalizationRequest |
---|
File |
---|
slamware_ros_sdk/msg/RecoverLocalizationRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
area | slamware_ros_sdk/RectFlt32 | Search area |
options | slamware_ros_sdk/LocalizationOptions | Relocalization options |
slamware_ros_sdk/RectFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/RectFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
x | float32 | x of origin |
y | float32 | y of origin |
w | float32 | width |
h | float32 | height |
slamware_ros_sdk/LocalizationOptions |
---|
File |
---|
slamware_ros_sdk/msg/LocalizationOptions.msg |
Definition |
---|
Field | Data type | 描述 |
---|
max_time_ms | slamware_ros_sdk/OptionalInt32 | Timeout of relocalization (in ms) |
mvmt_type | slamware_ros_sdk/OptionalLocalizationMovement | Behaviour of relocalization |
slamware_ros_sdk/OptionalInt32 |
---|
File |
---|
slamware_ros_sdk/msg/OptionalInt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | int32 | value |
slamware_ros_sdk/OptionalLocalizationMovement |
---|
File |
---|
slamware_ros_sdk/msg/OptionalLocalizationMovement.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | slamware_ros_sdk/LocalizationMovement | Relocalization behaviour |
slamware_ros_sdk/LocalizationMovement |
---|
File |
---|
slamware_ros_sdk/msg/LocalizationMovement.msg |
Definition |
---|
Field | Data type | Comments |
---|
type | int8 | Unknown=-1, Static=0, Rotation only=1, Any movement=2 |
clear_map (slamware_ros_sdk/ClearMapRequest)
Clear current built map
slamware_ros_sdk/ClearMapRequest |
---|
File |
---|
slamware_ros_sdk/msg/ClearMapRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
kind | slamware_ros_sdk/MapKind | Map kind |
slamware_ros_sdk/MapKind |
---|
File |
---|
slamware_ros_sdk/msg/MapKind.msg |
Definition |
---|
Field | Data type | Comments |
---|
kind | int8 | Unknown=-1, EXPLORERMAP=0, ... |
set_map_update (slamware_ros_sdk/SetMapUpdateRequest)
Enable or disable map update
slamware_ros_sdk/SetMapUpdateRequest |
---|
File |
---|
slamware_ros_sdk/msg/SetMapUpdateRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
enabled | bool | Enable of disable map update |
kind | slamware_ros_sdk/MapKind | Map kind |
slamware_ros_sdk/MapKind |
---|
File |
---|
slamware_ros_sdk/msg/MapKind.msg |
Definition |
---|
Field | Data type | Comments |
---|
kind | int8 | Unknown=-1,EXPLORERMAP=0,... |
set_map_localization (slamware_ros_sdk/SetMapLocalizationRequest)
Enable or disable localization
slamware_ros_sdk/SetMapLocalizationRequest |
---|
File |
---|
slamware_ros_sdk/msg/SetMapLocalizationRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
enabled | bool | Enable or disable map localization |
move_by_direction (slamware_ros_sdk/MoveByDirectionRequest)
Manually control robot to move by direction
slamware_ros_sdk/MoveByDirectionRequest |
---|
File |
---|
slamware_ros_sdk/msg/MoveByDirectionRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
direction | slamware_ros_sdk/ActionDirection | Direction of movement |
options | slamware_ros_sdk/MoveOptions | Options of movements |
slamware_ros_sdk/ActionDirection |
---|
File |
---|
slamware_ros_sdk/msg/ActionDirection.msg |
Definition |
---|
Field | Data type | Comments |
---|
direction | int8 | Unknown=-1, Forward=0, Backward=1, Turn Right=2, Turn Left=3 |
slamware_ros_sdk/MoveOptions |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptions.msg |
Definition |
---|
Field | Data type | Comments |
---|
opt_flags | slamware_ros_sdk/MoveOptionFlag | Move options |
speed_ratio | slamware_ros_sdk/OptionalFlt64 | Max speed limit ratio |
slamware_ros_sdk/MoveOptionFlag |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptionFlag.msg |
Definition |
---|
Field | Data type | Comments |
---|
flags | uint32 | Flag options |
Enumeration |
---|
Enumeration | Value | Comments |
---|
NONE | 0x00000000 | No option |
APPENDING | 0x00000001 | Append the goal to current goal queue, or replace the whole goal queue |
MILESTONE | 0x00000002 | Deprecated |
NO_SMOOTH | 0x00000004 | Do not smooth the path |
KEY_POINTS | 0x00000008 | Move via virtual tracks |
PRECISE | 0x00000010 | Move to goal precisely |
WITH_YAW | 0x00000020 | Turn to specific heading when reached target location |
RETURN_UNREACHABLE_DIRECTLY | 0x00000040 | If the goal is occupied, return unreachable directly, or find a nearby place as alternative goal |
KEY_POINTS_WITH_OA | 0x00000080 | Move with virtual-track-priority mode |
slamware_ros_sdk/OptionalFlt64 |
---|
File |
---|
slamware_ros_sdk/msg/OptionalFlt64.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | float64 | value |
move_by_theta (slamware_ros_sdk/MoveByThetaRequest)
Manually control robot to move by track ball
slamware_ros_sdk/MoveByThetaRequest |
---|
File |
---|
slamware_ros_sdk/msg/MoveByThetaRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
theta | float32 | Direction of track ball |
options | slamware_ros_sdk/MoveOptions | Movement options |
slamware_ros_sdk/MoveOptions |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptions.msg |
Definition |
---|
Field | Data type | Comments |
---|
opt_flags | slamware_ros_sdk/MoveOptionFlag | Move options |
speed_ratio | slamware_ros_sdk/OptionalFlt64 | Max speed limit ratio |
slamware_ros_sdk/MoveOptionFlag |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptionFlag.msg |
Definition |
---|
Field | Data type | Comments |
---|
flags | uint32 | Flag options |
Enumeration |
---|
Enumeration | Value | Comments |
---|
NONE | 0x00000000 | No option |
APPENDING | 0x00000001 | Append the goal to current goal queue, or replace the whole goal queue |
MILESTONE | 0x00000002 | Deprecated |
NO_SMOOTH | 0x00000004 | Do not smooth the path |
KEY_POINTS | 0x00000008 | Move via virtual tracks |
PRECISE | 0x00000010 | Move to goal precisely |
WITH_YAW | 0x00000020 | Turn to specific heading when reached target location |
RETURN_UNREACHABLE_DIRECTLY | 0x00000040 | If the goal is occupied, return unreachable directly, or find a nearby place as alternative goal |
KEY_POINTS_WITH_OA | 0x00000080 | Move with virtual-track-priority mode |
slamware_ros_sdk/OptionalFlt64 |
---|
File |
---|
slamware_ros_sdk/msg/OptionalFlt64.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | float64 | value |
move_to (slamware_ros_sdk/MoveToRequest)
Request autonomous navigation to specific goal, and heading
slamware_ros_sdk/MoveToRequest |
---|
File |
---|
slamware_ros_sdk/msg/MoveToRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
location | geometry_msgs/Point | The goal location |
options | slamware_ros_sdk/MoveOptions | Move options |
yaw | float32 | Ending robot heading |
slamware_ros_sdk/MoveOptions |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptions.msg |
Definition |
---|
Field | Data type | Comments |
---|
opt_flags | slamware_ros_sdk/MoveOptionFlag | Move options |
speed_ratio | slamware_ros_sdk/OptionalFlt64 | Max speed limit ratio |
slamware_ros_sdk/MoveOptionFlag |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptionFlag.msg |
Definition |
---|
Field | Data type | Comments |
---|
flags | uint32 | Flag options |
Enumeration |
---|
Enumeration | Value | Comments |
---|
NONE | 0x00000000 | No option |
APPENDING | 0x00000001 | Append the goal to current goal queue, or replace the whole goal queue |
MILESTONE | 0x00000002 | Deprecated |
NO_SMOOTH | 0x00000004 | Do not smooth the path |
KEY_POINTS | 0x00000008 | Move via virtual tracks |
PRECISE | 0x00000010 | Move to goal precisely |
WITH_YAW | 0x00000020 | Turn to specific heading when reached target location |
RETURN_UNREACHABLE_DIRECTLY | 0x00000040 | If the goal is occupied, return unreachable directly, or find a nearby place as alternative goal |
KEY_POINTS_WITH_OA | 0x00000080 | Move with virtual-track-priority mode |
slamware_ros_sdk/OptionalFlt64 |
---|
File |
---|
slamware_ros_sdk/msg/OptionalFlt64.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | float64 | value |
move_to_locations (slamware_ros_sdk/MoveToLocationsRequest)
Request autonomous navigation to a series of goals
slamware_ros_sdk/MoveToLocationsRequest |
---|
File |
---|
slamware_ros_sdk/msg/MoveToLocationsRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
locations | geometry_msgs/Point[] | The goal location |
options | slamware_ros_sdk/MoveOptions | Move options |
yaw | float32 | Ending robot heading |
slamware_ros_sdk/MoveOptions |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptions.msg |
Definition |
---|
Field | Data type | Comments |
---|
opt_flags | slamware_ros_sdk/MoveOptionFlag | Move options |
speed_ratio | slamware_ros_sdk/OptionalFlt64 | Max speed limit ratio |
slamware_ros_sdk/MoveOptionFlag |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptionFlag.msg |
Definition |
---|
Field | Data type | Comments |
---|
flags | uint32 | Flag options |
Enumeration |
---|
Enumeration | Value | Comments |
---|
NONE | 0x00000000 | No option |
APPENDING | 0x00000001 | Append the goal to current goal queue, or replace the whole goal queue |
MILESTONE | 0x00000002 | Deprecated |
NO_SMOOTH | 0x00000004 | Do not smooth the path |
KEY_POINTS | 0x00000008 | Move via virtual tracks |
PRECISE | 0x00000010 | Move to goal precisely |
WITH_YAW | 0x00000020 | Turn to specific heading when reached target location |
RETURN_UNREACHABLE_DIRECTLY | 0x00000040 | If the goal is occupied, return unreachable directly, or find a nearby place as alternative goal |
KEY_POINTS_WITH_OA | 0x00000080 | Move with virtual-track-priority mode |
slamware_ros_sdk/OptionalFlt64 |
---|
File |
---|
slamware_ros_sdk/msg/OptionalFlt64.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | float64 | value |
rotate_to (slamware_ros_sdk/RotateToRequest)
Request rotation to specific heading
slamware_ros_sdk/RotateToRequest |
---|
File |
---|
slamware_ros_sdk/msg/RotateToRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
orientation | geometry_msgs/Quaternion | Specifying the orientation |
options | slamware_ros_sdk/MoveOptions | Move options |
slamware_ros_sdk/MoveOptions |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptions.msg |
Definition |
---|
Field | Data type | Comments |
---|
opt_flags | slamware_ros_sdk/MoveOptionFlag | Move options |
speed_ratio | slamware_ros_sdk/OptionalFlt64 | Max speed limit ratio |
slamware_ros_sdk/MoveOptionFlag |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptionFlag.msg |
Definition |
---|
Field | Data type | Comments |
---|
flags | uint32 | Flag options |
Enumeration |
---|
Enumeration | Value | Comments |
---|
NONE | 0x00000000 | No option |
APPENDING | 0x00000001 | Append the goal to current goal queue, or replace the whole goal queue |
MILESTONE | 0x00000002 | Deprecated |
NO_SMOOTH | 0x00000004 | Do not smooth the path |
KEY_POINTS | 0x00000008 | Move via virtual tracks |
PRECISE | 0x00000010 | Move to goal precisely |
WITH_YAW | 0x00000020 | Turn to specific heading when reached target location |
RETURN_UNREACHABLE_DIRECTLY | 0x00000040 | If the goal is occupied, return unreachable directly, or find a nearby place as alternative goal |
KEY_POINTS_WITH_OA | 0x00000080 | Move with virtual-track-priority mode |
slamware_ros_sdk/OptionalFlt64 |
---|
File |
---|
slamware_ros_sdk/msg/OptionalFlt64.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | float64 | value |
rotate (slamware_ros_sdk/RotateRequest)
Request rotation by specific angle
slamware_ros_sdk/RotateRequest |
---|
File |
---|
slamware_ros_sdk/msg/RotateRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
orientation | geometry_msgs/Quaternion | Specifying the rotation |
options | slamware_ros_sdk/MoveOptions | Move options |
slamware_ros_sdk/MoveOptions |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptions.msg |
Definition |
---|
Field | Data type | Comments |
---|
opt_flags | slamware_ros_sdk/MoveOptionFlag | Move options |
speed_ratio | slamware_ros_sdk/OptionalFlt64 | Max speed limit ratio |
slamware_ros_sdk/MoveOptionFlag |
---|
File |
---|
slamware_ros_sdk/msg/MoveOptionFlag.msg |
Definition |
---|
Field | Data type | Comments |
---|
flags | uint32 | Flag options |
Enumeration |
---|
Enumeration | Value | Comments |
---|
NONE | 0x00000000 | No option |
APPENDING | 0x00000001 | Append the goal to current goal queue, or replace the whole goal queue |
MILESTONE | 0x00000002 | Deprecated |
NO_SMOOTH | 0x00000004 | Do not smooth the path |
KEY_POINTS | 0x00000008 | Move via virtual tracks |
PRECISE | 0x00000010 | Move to goal precisely |
WITH_YAW | 0x00000020 | Turn to specific heading when reached target location |
RETURN_UNREACHABLE_DIRECTLY | 0x00000040 | If the goal is occupied, return unreachable directly, or find a nearby place as alternative goal |
KEY_POINTS_WITH_OA | 0x00000080 | Move with virtual-track-priority mode |
slamware_ros_sdk/OptionalFlt64 |
---|
File |
---|
slamware_ros_sdk/msg/OptionalFlt64.msg |
Definition |
---|
Field | Data type | Comments |
---|
is_valid | bool | is the value valid |
value | float64 | value |
go_home (slamware_ros_sdk/GoHomeRequest)
Request robot to go back to the charge station
slamware_ros_sdk/GoHomeRequest |
---|
File |
---|
slamware_ros_sdk/msg/GoHomeRequest.msg |
Definition |
---|
None |
---|
cancel_action (slamware_ros_sdk/CancelActionRequest)
Abort current movement action
slamware_ros_sdk/CancelActionRequest |
---|
File |
---|
slamware_ros_sdk/msg/CancelActionRequest.msg |
Definition |
---|
None |
add_line (slamware_ros_sdk/AddLineRequest)
Add a line (virtual wall, virtual track, and etc.)
slamware_ros_sdk/AddLineRequest |
---|
File |
---|
slamware_ros_sdk/msg/AddLineRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | slamware_ros_sdk/ArtifactUsage | Line type |
line | slamware_ros_sdk/Line2DFlt32 | Line position |
slamware_ros_sdk/ArtifactUsage |
---|
File |
---|
slamware_ros_sdk/msg/ArtifactUsage.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | int8 | Unknown=-1, Virtual Walls=0, Virtual Tracks=1 |
slamware_ros_sdk/Line2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Line2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
id | uint32 | Line segment id |
start | slamware_ros_sdk/Vec2DFlt32 | Start point of line segment |
end | slamware_ros_sdk/Vec2DFlt32 | End point of line segment |
slamware_ros_sdk/Vec2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Vec2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
x | float32 | x |
y | float32 | y |
add_lines (slamware_ros_sdk/AddLinesRequest)
Add multiple lines (virtual wall, virtual track, and etc.)
slamware_ros_sdk/AddLinesRequest |
---|
File |
---|
slamware_ros_sdk/msg/AddLinesRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | slamware_ros_sdk/ArtifactUsage | Line type |
line | slamware_ros_sdk/Line2DFlt32[] | Positions of lines |
slamware_ros_sdk/ArtifactUsage |
---|
File |
---|
slamware_ros_sdk/msg/ArtifactUsage.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | int8 | Unknown=-1, Virtual Walls=0, Virtual Tracks=1 |
slamware_ros_sdk/Line2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Line2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
id | uint32 | Line segment id |
start | slamware_ros_sdk/Vec2DFlt32 | Start point of line segment |
end | slamware_ros_sdk/Vec2DFlt32 | End point of line segment |
slamware_ros_sdk/Vec2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Vec2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
x | float32 | x |
y | float32 | y |
remove_line (slamware_ros_sdk/RemoveLineRequest)
Remove specific line (virtual wall, virtual track, and etc.)
slamware_ros_sdk/RemoveLineRequest |
---|
File |
---|
slamware_ros_sdk/msg/RemoveLineRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | slamware_ros_sdk/ArtifactUsage | Line type |
id | uint32 | Line segment id |
slamware_ros_sdk/ArtifactUsage |
---|
File |
---|
slamware_ros_sdk/msg/ArtifactUsage.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | int8 | Unknown=-1, Virtual Walls=0, Virtual Tracks=1 |
clear_lines (slamware_ros_sdk/ClearLinesRequest)
Clear all lines (virtual wall, virtual track, and etc.)
slamware_ros_sdk/ClearLinesRequest |
---|
File |
---|
slamware_ros_sdk/msg/ClearLinesRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | slamware_ros_sdk/ArtifactUsage | Line segment type |
slamware_ros_sdk/ArtifactUsage |
---|
File |
---|
slamware_ros_sdk/msg/ArtifactUsage.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | int8 | Unknown=-1, Virtual Walls=0, Virtual Tracks=1 |
move_line (slamware_ros_sdk/MoveLineRequest)
Move specific line (virtual wall, virtual track, and etc.)
slamware_ros_sdk/MoveLineRequest |
---|
File |
---|
slamware_ros_sdk/msg/MoveLineRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | slamware_ros_sdk/ArtifactUsage | Line segment type |
line | slamware_ros_sdk/Line2DFlt32 | New position of line segments |
slamware_ros_sdk/ArtifactUsage |
---|
File |
---|
slamware_ros_sdk/msg/ArtifactUsage.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | int8 | Unknown=-1, Virtual Walls=0, Virtual Tracks=1 |
slamware_ros_sdk/Line2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Line2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
id | uint32 | Line segment id |
start | slamware_ros_sdk/Vec2DFlt32 | Start point of line segment |
end | slamware_ros_sdk/Vec2DFlt32 | End point of line segment |
slamware_ros_sdk/Vec2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Vec2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
x | float32 | x |
y | float32 | y |
move_lines (slamware_ros_sdk/MoveLinesRequest)
Move multiple lines (virtual wall, virtual track, and etc.)
slamware_ros_sdk/MoveLinesRequest |
---|
File |
---|
slamware_ros_sdk/msg/MoveLinesRequest.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | slamware_ros_sdk/ArtifactUsage | Line segment type |
line | slamware_ros_sdk/Line2DFlt32[] | New positions of line segments |
slamware_ros_sdk/ArtifactUsage |
---|
File |
---|
slamware_ros_sdk/msg/ArtifactUsage.msg |
Definition |
---|
Field | Data type | Comments |
---|
usage | int8 | Unknown=-1, Virtual Walls=0, Virtual Tracks=1 |
slamware_ros_sdk/Line2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Line2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
id | uint32 | Line segment id |
start | slamware_ros_sdk/Vec2DFlt32 | Start point of line segment |
end | slamware_ros_sdk/Vec2DFlt32 | End point of line segment |
slamware_ros_sdk/Vec2DFlt32 |
---|
File |
---|
slamware_ros_sdk/msg/Vec2DFlt32.msg |
Definition |
---|
Field | Data type | Comments |
---|
x | float32 | x |
y | float32 | y |