From 8138971f4d0396c204977cb14552f2c85d640f65 Mon Sep 17 00:00:00 2001 From: Chris Burbridge Date: Fri, 5 Feb 2016 12:10:08 +0000 Subject: [PATCH] Add documentation for semantic_map_to_2d. --- semantic_map_to_2d/README.md | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 semantic_map_to_2d/README.md diff --git a/semantic_map_to_2d/README.md b/semantic_map_to_2d/README.md new file mode 100644 index 00000000..08102e1c --- /dev/null +++ b/semantic_map_to_2d/README.md @@ -0,0 +1,19 @@ +This package contains a single map server node that publishes a downprojected metric map. +A service is provided for chaning which waypoint is currently being published. + +# Usage + +Start it with + +`rosrun semantic_map_to_2d semantic_map_2d_server` + +This then provides the service `/set_waypoint` with the following format [TODO: This should be moved to the nodes namespace...] + +Request: +- `string waypoint` : The name of the waypoint to switch the map to. + +Response: +- `bool is_ok` : If the map was switched or not +- `string response` : Some textual description of what when wrong if not ok. + +The map server publishes the map as a `nav_msgs::OccupancyGrid` on the topic `/waypoint_map`.