tms_sd_ground

tms_sd_ground

tms_sd_ground is a package for formatting OccupancyGrid msg to Tmsdb msg and sending it to tms_db_writer.

Though OccupancyGrid msg is originally used to store the probability of grid occupancy, this msg can be used for various 2D grid maps such as ground stiffness.

OccupancyGrid msg topic is transformed by ground_tf_broadcaster node.

Usecase

1. Run tms_db_writer or tms_db_manager

Detail description is here.

Receive Tmsdb from tms_sd_ground and store them in ROS2-TMS database.

Writer

ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true

Reader and Writer

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true

2. Run tms_sd_ground

After the below command, a node is executed that subscribes OccupancyGrid and publishes Tmsdb including the OccupancyGrid.

ros2 launch tms_sd_ground tms_sd_ground_launch.py input/occupancy_grid:=/topic/of/occupancy_grid ground_name:=construction_ground to_frame:=world

Inputs / Outputs

Inputs

Name	Type	Description
/input/occupancy_grid	nav_msgs::msg::OccupancyGrid	heatmap showing the hardness of the ground

Outputs

Name	Type	Description
/tms_db_data	tms_msg_db::msg::Tmsdb	Tmsdb including OccupancyGrid

Parameters

Name	Type	Default Value	Description
ground_name	string	ground_name	ground name to identify ground from the ROS2-TMS database
to_frame	string	world	target frame_id