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Added remove_label service. Updated get_nodes_in_radius service (added parameter k, return also distances of nodes found)

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matlabbe
2022-01-20 19:00:05 -05:00
parent 8fff821a87
commit 0ebaaa7439
7 changed files with 65 additions and 9 deletions
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srv/GetNodesInRadius.srv
+14 -4
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@@ -1,7 +1,11 @@
#request
# If target pose and node_id are all zeros, poses
# around the latest node in the graph are returned.
# In mapping mode (Mem/IncrementalMemory=true), if target pose
# and node_id are all zeros, poses around the latest node
# in the graph are returned.
# In localization mode (Mem/IncrementalMemory=false), if target pose
# and node_id are all zeros, poses around the latest localization
# pose are returned.
# If node_id is not zero, target pose is ignored.
# Node id
@@ -12,10 +16,16 @@ float32 x
float32 y
float32 z
# Radius, <=0 means that RGBD/LocalRadius will be used
# Radius, <=0 means that RGBD/LocalRadius will be used
# if k is also 0. If k>0 and a radius of 0 means all nearest
# poses up to k.
float32 radius
# Maximum number of nearest poses
int32 k
---
#response
int32[] ids
geometry_msgs/Pose[] poses
geometry_msgs/Pose[] poses
float32[] distsSqr