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Any standard way of passing lines?

asked 2012-03-14 11:08:45 -0600

I'm trying to pass lines between nodes. I can easily make my own line message but want use a standard message if possible. I haven't found any obvious ones.

Is there a standard message for passing a line/lines?

Currently I'm considering just co-opting Polygon.

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Polygon would get my vote. visualization_msgs/Marker explicitly handles lines (and line lists/strips), but it's a bit clunky.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2012-03-14 11:37:45 -0600 )edit

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answered 2012-03-14 12:20:59 -0600

mjcarroll gravatar image

updated 2012-03-14 12:21:37 -0600

I would suggest Polygon.

What's odd is that the Point32 message says to use Point whenever possible, but the Polygon message uses Point32. The message API seems to contradict itself in this regard.

Perhaps @tfoote can weight in on this design decision.

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I tried marking this as a community wiki answer, since @dlaz really answered it first, so he should get the imaginary internet points before me. Marking an existing answer doesn't seem to work, though.

mjcarroll gravatar image mjcarroll  ( 2012-03-14 12:22:32 -0600 )edit

Hah, I appreciate the thought. I started it out as an answer, but felt like it wasn't really an answer, so switched to a comment.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2012-03-14 13:57:56 -0600 )edit

No problem, I'm up voting your comments as a consolation prize.

mjcarroll gravatar image mjcarroll  ( 2012-03-14 14:09:21 -0600 )edit

The reason for using Point32 is for space reasons. It's the same reason point clouds use Point32. When you start sending large polygons 64bits of precision starts to use a lot of bandwidth.

tfoote gravatar image tfoote  ( 2012-03-15 10:13:42 -0600 )edit

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Asked: 2012-03-14 11:08:45 -0600

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Last updated: Mar 14 '12