From f48b00d43cdb82ed9367e0956db332484f676598 Mon Sep 17 00:00:00 2001 From: "David V. Lu!!" Date: Thu, 13 Aug 2020 16:49:08 -0400 Subject: [PATCH] [noetic] Add LoadMap service (#164) * Add LoadMap service Signed-off-by: Jacob Perron --- nav_msgs/CMakeLists.txt | 3 ++- nav_msgs/srv/LoadMap.srv | 15 +++++++++++++++ 2 files changed, 17 insertions(+), 1 deletion(-) create mode 100644 nav_msgs/srv/LoadMap.srv diff --git a/nav_msgs/CMakeLists.txt b/nav_msgs/CMakeLists.txt index 2a8887e1..b4751819 100644 --- a/nav_msgs/CMakeLists.txt +++ b/nav_msgs/CMakeLists.txt @@ -17,7 +17,8 @@ add_service_files( FILES GetMap.srv GetPlan.srv - SetMap.srv) + SetMap.srv + LoadMap.srv) add_action_files( FILES diff --git a/nav_msgs/srv/LoadMap.srv b/nav_msgs/srv/LoadMap.srv new file mode 100644 index 00000000..3b9caaad --- /dev/null +++ b/nav_msgs/srv/LoadMap.srv @@ -0,0 +1,15 @@ +# URL of map resource +# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml +# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml +string map_url +--- +# Result code defintions +uint8 RESULT_SUCCESS=0 +uint8 RESULT_MAP_DOES_NOT_EXIST=1 +uint8 RESULT_INVALID_MAP_DATA=2 +uint8 RESULT_INVALID_MAP_METADATA=3 +uint8 RESULT_UNDEFINED_FAILURE=255 + +# Returned map is only valid if result equals RESULT_SUCCESS +nav_msgs/OccupancyGrid map +uint8 result