ROS PoseArray

Adapter Type: "ros.posearray"

This adapter subscribes to a ROS PoseArray topic. Each pose in the message becomes a frame in the map, positioned relative to the message's frame, and linked to a parent node. The frames from the previous message are replaced by those of each new message.

Warning

The ROS component needs to be enabled within the agent for ROS adapters to function. For more information, see ROS.

Note

The source setting of an adapter which subscribes to a ROS topic is the topic path as presented in the live data viewer. This means for a ROS source of the form "/camera/rgb/points", the path is "/ros/camera/rgb/points".

Setting	Type	Description	Default
source	string	The topic path of the PoseArray message source.
node_id	string	The ID of the parent node which the pose frames belong to. Required.
node_type	string	The type of the parent node, if it is created by the adapter. Required.
edge_type	string	The type of the edge joining the parent node to each pose frame. Required.

Example

"uniqueAdapterName": {
  "enabled": true,
  "type": "ros.posearray",
  "settings": {
    "source": "/ros/particlecloud",
    "node_id": "particles",
    "node_type": "FRAME",
    "edge_type": "particle"
  }
}