X-lanni
31 lines
716 B
Plaintext
31 lines
716 B
Plaintext
#request
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# In mapping mode (Mem/IncrementalMemory=true), if target pose
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# and node_id are all zeros, poses around the latest node
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# in the graph are returned.
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# In localization mode (Mem/IncrementalMemory=false), if target pose
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# and node_id are all zeros, poses around the latest localization
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# pose are returned.
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# If node_id is not zero, target pose is ignored.
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# Node id
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int32 node_id
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# Target pose:
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float32 x
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float32 y
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float32 z
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# Radius, <=0 means that RGBD/LocalRadius will be used
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# if k is also 0. If k>0 and a radius of 0 means all nearest
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# poses up to k.
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float32 radius
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# Maximum number of nearest poses
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int32 k
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---
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#response
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int32[] ids
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geometry_msgs/Pose[] poses
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float32[] dists_sqr |