slamware_ros_sdk_server_node Node
The slamware_ros_sdk_server_node connects to the Aurora-based spatial mapping device, publishing the device's map, pose, and status information, and receiving commands to control the device..
1. Subscribed Topics
sync_map (slamware_ros_sdk/SyncMapRequest)
Synchronize the map
clear_map (slamware_ros_sdk/ClearMapRequest)
Clear the map
set_map_update (slamware_ros_sdk/SetMapUpdateRequest)
Set the map update switch status
set_map_localization (slamware_ros_sdk/SetMapLocalizationRequest)
Set the localization switch status
relocalization_cancel (slamware_ros_sdk/RelocalizationCancelRequest)
Cancel relocalization
2. Published Topics
scan (sensor_msgs/LaserScan)
LiDAR data, published at a fixed frequency(only available when an external LiDAR is connected)
robot_pose(geometry_msgs/PoseStamped)
Robot pose information, published at a fixed frequency
map_metadata (nav_msgs/MapMetaData)
Basic map information (including resolution, size, origin), published at a fixed frequency
map(nav_msgs/OccupancyGrid)
Map data, published at a fixed frequency
system_status (slamware_ros_sdk/SystemStatus)
Publish system status
relocalization_status (slamware_ros_sdk/RelocalizationStatus)
Relocalization status, published at a fixed frequency
left_image_raw (sensor_msgs/Image)
Left camera image, published at a fixed frequency
right_image_raw (sensor_msgs/Image)
Right camera image, published at a fixed frequency
stereo_keypoints (sensor_msgs/Image)
Image with key points, published at a fixed frequency
imu_raw_data (sensor_msgs/Imu)
IMU accelerometer and gyroscope data, published at a fixed frequency
point_cloud (sensor_msgs/PointCloud2)
Point cloud data, published at a fixed frequency
3. Services
sync_get_stcm (slamware_ros_sdk/SyncGetStcm)
Fetch maps in
stcmformat
sync_set_stcm (slamware_ros_sdk/SyncSetStcm)
Replace maps with specified
stcmfile
relocalization (slamware_ros_sdk/RelocalizationRequest)
Request relocalization
4. Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
| ip_address | string | "192.168.11.1" | IP address for connecting to the robot |
| robot_port | int | 1445 | Port for connecting to the robot |
| reconn_wait_ms | uint | 3000 | Reconnection wait time in milliseconds |
| angle_compensate | bool | true | Angle compensation switch |
| robot_frame | string | "base_link" | Robot base reference frame |
| laser_frame | string | "laser" | Laser reference frame |
| map_frame | string | "map" | Map reference frame |
| imu_frame | string | "imu_link" | IMU reference frame |
| camera_left | string | "camera_left" | Left camera reference frame |
| camera_right | string | "camera_right" | Right camera reference frame |
| robot_pose_pub_period | float | 0.05 | Robot pose publishing period (seconds) |
| scan_pub_period | float | 0.1 | LiDAR data publishing period (seconds) |
| map_update_period | float | 0.2 | Map update period (seconds) |
| map_pub_period | float | 0.2 | Map data publishing period (seconds) |
| map_sync_once_get_max_wh | float | 100.0 | Maximum size for map synchronization |
| map_update_near_robot_half_wh | float | 8.0 | Map update size centered around the robot |
| imu_raw_data_period | float | 0.05 | IMU raw data publishing period (seconds) |
| event_period | float | 1.0 | Event detection period for map setup/loop closure (seconds) |
| system_status_pub_period | float | 0.05 | System status publishing period (seconds) |
| stereo_image_pub_period | float | 0.067 | Image publishing period (seconds) |
| point_cloud_pub_period | float | 0.1 | Point cloud publishing period (seconds) |
| depth_image_pub_period | float | 0.067 | Depth image publishing period (seconds) |
| odom_pub_period | float | 0.05 | Odometry publishing period (seconds) |
| scan_topic | string | "/slamware_ros_sdk_server_node/scan" | LiDAR data publishing topic |
| robot_pose_topic | string | "/slamware_ros_sdk_server_node/robot_pose" | Robot pose publishing topic |
| map_topic | string | "/slamware_ros_sdk_server_node/map" | Map publishing topic |
| map_info_topic | string | "/slamware_ros_sdk_server_node/map_metadata" | Map metadata publishing topic |
| imu_raw_data_topic | string | "/slamware_ros_sdk_server_node/imu_raw_data" | IMU accelerometer and gyroscope publishing topic |
| system_status_topic_name | string | "/slamware_ros_sdk_server_node/system_status" | System status publishing topic |
| relocalization_status_topic_name | string | "/slamware_ros_sdk_server_node/relocalization_status" | Relocalization status publishing topic |
| left_image_raw_topic_name | string | "/slamware_ros_sdk_server_node/left_image_raw" | Left camera image publishing topic |
| right_image_raw_topic_name | string | "/slamware_ros_sdk_server_node/right_image_raw" | Right camera image publishing topic |
| point_cloud_topic_name | string | "/slamware_ros_sdk_server_node/point_cloud" | Point cloud publishing topic |
| stereo_keypoints_topic_name | string | "/slamware_ros_sdk_server_node/stereo_keypoints" | Stereo feature extraction publishing topic |
| depth_image_raw_topic_name | string | "/slamware_ros_sdk_server_node/depth_image_raw" | Depth camera raw image publishing topic |
| depth_image_colorized_topic_name | string | "/slamware_ros_sdk_server_node/depth_image_colorized" | Depth camera colorized image publishing topic |
| semantic_segmentation_topic_name | string | "/slamware_ros_sdk_server_node/semantic_segmentation" | Semantic segmentation colorized image publishing topic |
| odom_topic_name | string | "/slamware_ros_sdk_server_node/odom" | Odometry publishing topic |
5. Required tf Transforms
None
6. Provided tf Transforms
laser -> map
Pose of LIDAR scan in the map(only available when an external LiDAR is connected)
base_link -> laser
Static transform from base link to laser frame(only available when an external LiDAR is connected)
camera_left-> base_link
Static transform from left camera to base link
camera_right-> camera_left
Static transform from right camera to left camera
imu_link -> camera_left
Static transform from IMU frame to left camera