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Add Cartographer service proto. (#723)

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Christoph Schütte 2017-12-04 17:30:42 +01:00 committed by GitHub
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// Copyright 2017 The Cartographer Authors
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
syntax = "proto3";
import "cartographer/mapping/proto/trajectory_builder_options.proto";
import "cartographer/sensor/proto/sensor.proto";
import "google/protobuf/empty.proto";
package cartographer_grpc.proto;
message AddTrajectoryRequest {
cartographer.mapping.proto.TrajectoryBuilderOptions
trajectory_builder_options = 1;
}
message SensorMetadata {
int32 trajectory_id = 1;
string sensor_id = 2;
}
message AddTrajectoryResponse {
int32 trajectory_id = 1;
}
message AddOdometryDataRequest {
SensorMetadata sensor_metadata = 1;
cartographer.sensor.proto.OdometryData odometry_data = 2;
}
message AddImuDataRequest {
SensorMetadata sensor_metadata = 1;
cartographer.sensor.proto.ImuData imu_data = 2;
}
message AddRangefinderDataRequest {
SensorMetadata sensor_metadata = 1;
cartographer.sensor.proto.CompressedPointCloud rangefinder_data = 2;
}
message FinishTrajectoryRequest {
int32 trajectory_id = 1;
}
service Cartographer {
// Starts a new trajectory and returns its index.
rpc AddTrajectory(AddTrajectoryRequest) returns (AddTrajectoryResponse);
// Adds odometry data from the sensor with id 'sensor_metadata.sensor_id' to
// the trajectory corresponding to 'sensor_metadata.trajectory_id'.
rpc AddOdometryData(stream AddOdometryDataRequest)
returns (google.protobuf.Empty);
// Adds IMU data from the sensor with id 'sensor_metadata.sensor_id' to
// the trajectory corresponding to 'sensor_metadata.trajectory_id'.
rpc AddImuData(stream AddImuDataRequest) returns (google.protobuf.Empty);
// Adds range-finder data from the sensor with id 'sensor_metadata.sensor_id'
// to the trajectory corresponding to 'sensor_metadata.trajectory_id'.
rpc AddRangefinderData(stream AddRangefinderDataRequest)
returns (google.protobuf.Empty);
// Marks a trajectory corresponding to 'trajectory_id' as finished,
// i.e. no further sensor data is expected.
rpc FinishTrajectory(FinishTrajectoryRequest) returns (google.protobuf.Empty);
}