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envire_maps.orogen
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name "envire_maps"
version "0.1"
using_library 'maps'
using_library 'envire_core'
import_types_from 'base'
import_types_from 'envire_core'
import_types_from "maps/grid/MLSConfig.hpp"
import_types_from 'maps/grid/Index.hpp'
import_types_from 'envire_mapsTypes.hpp'
typekit.opaque_type '/maps/grid/Index', 'wrappers/Index'
# define opaques
typekit do
opaque_autogen '/maps/grid/GridMap</char>',
:includes => "maps/grid/GridMap.hpp",
:alias_name => '/maps/grid/GridMapC'
opaque_autogen '/maps/grid/GridMap</int>',
:includes => "maps/grid/GridMap.hpp",
:alias_name => '/maps/grid/GridMapI'
opaque_autogen '/maps/grid/GridMap</float>',
:includes => "maps/grid/GridMap.hpp",
:alias_name => '/maps/grid/GridMapF'
opaque_autogen '/maps/grid/GridMap</double>',
:includes => "maps/grid/GridMap.hpp",
:alias_name => '/maps/grid/GridMapD'
opaque_autogen '/maps/grid/ElevationMap',
:includes => "maps/grid/ElevationMap.hpp"
opaque_autogen '/maps/grid/MLSMap</maps/grid/MLSConfig/SLOPE>',
:includes => "maps/grid/MLSMap.hpp",
:alias_name => '/maps/grid/MLSMapSloped'
opaque_autogen '/maps/grid/MLSMap</maps/grid/MLSConfig/KALMAN>',
:includes => "maps/grid/MLSMap.hpp",
:alias_name => '/maps/grid/MLSMapKalman'
opaque_autogen '/maps/grid/MLSMap</maps/grid/MLSConfig/BASE>',
:includes => "maps/grid/MLSMap.hpp",
:alias_name => '/maps/grid/MLSMapBase'
opaque_autogen '/maps/grid/MLSMap</maps/grid/MLSConfig/PRECALCULATED>',
:includes => "maps/grid/MLSMap.hpp",
:alias_name => '/maps/grid/MLSMapPrecalculated'
opaque_autogen '/maps/geometric/GeometricMap</maps/geometric/LineSegment3d>',
:includes => "maps/geometric/ContourMap.hpp",
:alias_name => '/maps/geometric/ContourMap'
opaque_autogen '/maps/grid/OccupancyGridMap',
:includes => "maps/grid/OccupancyGridMap.hpp"
opaque_autogen '/maps/grid/TraversabilityGrid',
:includes => "maps/grid/TraversabilityGrid.hpp"
opaque_autogen '/maps/grid/TSDFVolumetricMap',
:includes => "maps/grid/TSDFVolumetricMap.hpp"
opaque_autogen '/maps/grid/TraversabilityMap3d</maps/grid/TraversabilityNodeBase *>',
:includes => "maps/grid/TraversabilityMap3d.hpp",
:alias_name => '/maps/grid/TraversabilityBaseMap3d'
end
maps = ['/maps/grid/GridMap</char>',
'/maps/grid/GridMap</int>',
'/maps/grid/GridMap</float>',
'/maps/grid/GridMap</double>',
'/maps/grid/ElevationMap',
'/maps/grid/MLSMap</maps/grid/MLSConfig/BASE>',
'/maps/grid/MLSMap</maps/grid/MLSConfig/SLOPE>',
'/maps/grid/MLSMap</maps/grid/MLSConfig/KALMAN>',
'/maps/grid/MLSMap</maps/grid/MLSConfig/PRECALCULATED>',
'/maps/geometric/GeometricMap</maps/geometric/LineSegment3d>',
'/maps/grid/OccupancyGridMap',
'/maps/grid/TraversabilityGrid',
'/maps/grid/TSDFVolumetricMap',
'/maps/grid/TraversabilityBaseMap3d']
# type exports
typekit do
envire_maps = []
maps.each do |map|
envire_maps.push spatio_temporal map
end
export_types *maps,
*envire_maps
end
# Abstract map laoder for MLS maps.
task_context "MLSMapLoader" do
property('path', 'std/string')
.doc("File location of the PLY to load.")
property('resolution', 'double', 0.1)
.doc("Cell size of the generated MLS map.")
property('mls_config', 'maps/grid/MLSConfig')
.doc("Parameters of the generated MLS map.")
property('map_frame', 'std/string', "static_map")
.doc("Envire frame the map will be attached to.")
operation('publishMap')
.returns("bool")
.doc("Writes the map to the port.")
periodic(1.0)
end
# Loads a pointcloud from a ply file and generates a MLS<KALMAN> from it.
task_context "MLSMapKalmanLoader" do
subclasses "MLSMapLoader"
output_port('map', spatio_temporal('/maps/grid/MLSMap</maps/grid/MLSConfig/KALMAN>'))
.doc("Generated MLS map, request via publishMap operation.")
end
# Loads a pointcloud from a ply file and generates a MLS<SLOPE> from it.
task_context "MLSMapSlopeLoader" do
subclasses "MLSMapLoader"
output_port('map', spatio_temporal('/maps/grid/MLSMap</maps/grid/MLSConfig/SLOPE>'))
.doc("Generated MLS map, request via publishMap operation.")
end