Is there a standard "location" message type?

asked 2016-09-16 09:30:53 -0600

Pi Robot gravatar image

I would like to send our robot a location goal that can be given in any number of ways: a pose relative to a map, a set of GPS coordinates, or even just a name like "room 115". Is there already a standard ROS "location" message type that has all these fields included? My own working example is as follows:

Location.msg

# A location in the world
Header                          header
string                          name
string                          address
string                          building
string                          room
geometry_msgs/PoseStamped       pose
gps_common/GPSFix               gps
ar_track_alvar_msgs/AlvarMarker ar_marker

I then have a "location server node" that defines a service to accept a location message with some of these fields filled in and then fills in the rest from a predefined locations.yaml config file.

Thanks!
patrick

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Comments

You can create your own message type, see here.

JoshMarino gravatar image JoshMarino  ( 2016-09-17 23:23:13 -0600 )edit

Thanks but that is sort of what I was suggesting with my example above. (:

Pi Robot gravatar image Pi Robot  ( 2016-09-18 20:32:50 -0600 )edit