From ef2f1d586da55f2209a8bd398769fef764e56f98 Mon Sep 17 00:00:00 2001
From: yunchang <yunchang@mit.edu>
Date: Mon, 14 Mar 2022 07:57:46 -0700
Subject: [PATCH] move kimera vio ros msgs and srv to pose graph tools (#6)

---
 msg/BowQuery.msg             | 3 +++
 msg/BowVector.msg            | 2 ++
 msg/VLCFrameMsg.msg          | 5 +++++
 package.xml                  | 1 +
 srv/LcdFrameRegistration.srv | 5 +++++
 srv/VLCFrameQuery.srv        | 4 ++++
 6 files changed, 20 insertions(+)
 create mode 100644 msg/BowQuery.msg
 create mode 100644 msg/BowVector.msg
 create mode 100644 msg/VLCFrameMsg.msg
 create mode 100644 srv/LcdFrameRegistration.srv
 create mode 100644 srv/VLCFrameQuery.srv

diff --git a/msg/BowQuery.msg b/msg/BowQuery.msg
new file mode 100644
index 0000000..b561069
--- /dev/null
+++ b/msg/BowQuery.msg
@@ -0,0 +1,3 @@
+uint32 robot_id
+uint32 pose_id
+BowVector bow_vector
\ No newline at end of file
diff --git a/msg/BowVector.msg b/msg/BowVector.msg
new file mode 100644
index 0000000..2d95e8c
--- /dev/null
+++ b/msg/BowVector.msg
@@ -0,0 +1,2 @@
+uint32[] word_ids
+float32[] word_values
\ No newline at end of file
diff --git a/msg/VLCFrameMsg.msg b/msg/VLCFrameMsg.msg
new file mode 100644
index 0000000..49a2a92
--- /dev/null
+++ 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
\ No newline at end of file
diff --git a/package.xml b/package.xml
index ce3fd2f..85d0b33 100644
--- 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
new file mode 100644
index 0000000..e942ee4
--- /dev/null
+++ 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
new file mode 100644
index 0000000..1d3a421
--- /dev/null
+++ b/srv/VLCFrameQuery.srv
@@ -0,0 +1,4 @@
+uint32 robot_id
+uint32 pose_id
+---
+pose_graph_tools/VLCFrameMsg frame
\ No newline at end of file