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[noetic] Add LoadMap service #164

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merged 4 commits into from
Aug 13, 2020
Merged

[noetic] Add LoadMap service #164

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dbe74ac
Add LoadMap service
jacobperron Nov 1, 2016
fadac69
Use a URL
jacobperron Nov 25, 2019
59fde77
Make result codes unique
jacobperron Nov 25, 2019
3d7bc24
Move result code definitions into response message
jacobperron Nov 25, 2019
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3 changes: 2 additions & 1 deletion nav_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,8 @@ add_service_files(
FILES
GetMap.srv
GetPlan.srv
SetMap.srv)
SetMap.srv
LoadMap.srv)

add_action_files(
FILES
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15 changes: 15 additions & 0 deletions nav_msgs/srv/LoadMap.srv
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Original file line number Diff line number Diff line change
@@ -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