ropod_wm_mediator

Makes queries to world models

Message definitions

See message definitions in ropod_com_mediator Message definitions

To install python dependencies

pip install -r requirements.txt

OSM WM bridge

Provides /osm_query action server to make queries to OSM world model

• It requires 3 inputs:

- ids: array of element id's we are interested in
- data_type: way,node,relation
- query_type:
  - 'info' - returns geometry and semantic info of all element ids (all data_types)
  - 'area' - returns areas corresponding to given topology nodes (only for nodes)
  - 'graph' - returns graphs containing given topology nodes (only for nodes)

Note: Update overpass url and global reference point in launch file before launching!

WM mediator

Provides /get_waypt_position action server

• Takes list of Waypoint ids as input
• Returns list of Position in local cartesian coordinate system

Provides /get_waypt_shape action server

• Takes list of Waypoint ids as input
• Returns list of Shape

Launch

To launch world model mediator

roslaunch ropod_wm_mediator wm_mediator.launch