move kimera vio ros msgs and srv to pose graph tools (#6)

MIT-SPARK · Mar 14, 2022 · ef2f1d5 · ef2f1d5
1 parent 2fc34bb
commit ef2f1d5
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Showing 6 changed files with 20 additions and 0 deletions.
diff --git a/msg/BowQuery.msg b/msg/BowQuery.msg
@@ -0,0 +1,3 @@
+uint32 robot_id
+uint32 pose_id
+BowVector bow_vector
diff --git a/msg/BowVector.msg b/msg/BowVector.msg
@@ -0,0 +1,2 @@
+uint32[] word_ids
+float32[] word_values
diff --git a/msg/VLCFrameMsg.msg b/msg/VLCFrameMsg.msg
@@ -0,0 +1,5 @@
+uint32 robot_id
+uint32 pose_id
+sensor_msgs/Image descriptors_mat
+sensor_msgs/PointCloud2 keypoints
+sensor_msgs/PointCloud2 versors
diff --git a/package.xml b/package.xml
@@ -16,6 +16,7 @@
   <depend>message_runtime</depend>
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>interactive_markers</depend>
 </package>
diff --git a/srv/LcdFrameRegistration.srv b/srv/LcdFrameRegistration.srv
@@ -0,0 +1,5 @@
+uint64 query
+uint64 match
+---
+bool valid
+geometry_msgs/Pose match_T_query
diff --git a/srv/VLCFrameQuery.srv b/srv/VLCFrameQuery.srv
@@ -0,0 +1,4 @@
+uint32 robot_id
+uint32 pose_id
+---
+pose_graph_tools/VLCFrameMsg frame