cartographer/cartographer_grpc/proto/map_builder_service.proto

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Protocol Buffer

// 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/pose_graph.proto";
import "cartographer/mapping/proto/serialization.proto";
import "cartographer/mapping/proto/submap_visualization.proto";
import "cartographer/mapping/proto/trajectory_builder_options.proto";
import "cartographer/sensor/proto/sensor.proto";
import "cartographer/transform/proto/transform.proto";
import "google/protobuf/empty.proto";
package cartographer_grpc.proto;
enum SensorType {
RANGE = 0;
IMU = 1;
ODOMETRY = 2;
FIXED_FRAME_POSE = 3;
LANDMARK = 4;
LOCAL_SLAM_RESULT = 5;
}
message SensorId {
string id = 1;
SensorType type = 2;
}
message AddTrajectoryRequest {
repeated SensorId expected_sensor_ids = 3;
cartographer.mapping.proto.TrajectoryBuilderOptions
trajectory_builder_options = 2;
}
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.TimedPointCloudData timed_point_cloud_data = 2;
}
message AddFixedFramePoseDataRequest {
SensorMetadata sensor_metadata = 1;
cartographer.sensor.proto.FixedFramePoseData fixed_frame_pose_data = 2;
}
message AddLandmarkDataRequest {
SensorMetadata sensor_metadata = 1;
cartographer.sensor.proto.LandmarkData landmark_data = 2;
}
message FinishTrajectoryRequest {
int32 trajectory_id = 1;
}
message ReceiveLocalSlamResultsRequest {
int32 trajectory_id = 1;
}
message LocalSlamInsertionResult {
cartographer.mapping.proto.NodeId node_id = 1;
}
message ReceiveLocalSlamResultsResponse {
int32 trajectory_id = 1;
int64 timestamp = 2;
cartographer.transform.proto.Rigid3d local_pose = 3;
cartographer.sensor.proto.RangeData range_data = 4;
LocalSlamInsertionResult insertion_result = 5;
}
message GetSubmapRequest {
cartographer.mapping.proto.SubmapId submap_id = 1;
}
message LoadMapRequest {
oneof map_chunk {
cartographer.mapping.proto.PoseGraph pose_graph = 1;
cartographer.mapping.proto.SerializedData serialized_data = 2;
}
}
message GetSubmapResponse {
cartographer.mapping.proto.SubmapQuery.Response submap_query_response = 1;
string error_msg = 2;
}
message TrajectoryNodePose {
cartographer.mapping.proto.NodeId node_id = 1;
cartographer.transform.proto.Rigid3d global_pose = 2;
bool has_constant_data = 3;
}
message GetTrajectoryNodePosesResponse {
repeated TrajectoryNodePose node_poses = 1;
}
message SubmapPose {
cartographer.mapping.proto.SubmapId submap_id = 1;
int32 submap_version = 2;
cartographer.transform.proto.Rigid3d global_pose = 3;
}
message GetAllSubmapPosesResponse {
repeated SubmapPose submap_poses = 1;
}
message GetLocalToGlobalTransformRequest {
int32 trajectory_id = 1;
}
message GetLocalToGlobalTransformResponse {
cartographer.transform.proto.Rigid3d local_to_global = 1;
}
message GetConstraintsResponse {
repeated cartographer.mapping.proto.PoseGraph.Constraint constraints = 1;
}
message AddLocalSlamResultDataRequest {
SensorMetadata sensor_metadata = 1;
cartographer.mapping.proto.LocalSlamResultData local_slam_result_data = 2;
}
service MapBuilderService {
// 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);
// Same for IMU data.
rpc AddImuData(stream AddImuDataRequest) returns (google.protobuf.Empty);
// Same for range-finder data.
rpc AddRangefinderData(stream AddRangefinderDataRequest)
returns (google.protobuf.Empty);
// Same for fixed-frame pose data.
rpc AddFixedFramePoseData(stream AddFixedFramePoseDataRequest)
returns (google.protobuf.Empty);
// Same for landmark data.
rpc AddLandmarkData(stream AddLandmarkDataRequest)
returns (google.protobuf.Empty);
// Adds a local SLAM result.
rpc AddLocalSlamResultData(stream AddLocalSlamResultDataRequest)
returns (google.protobuf.Empty);
// Requests the server to send a stream of local SLAM results for the given
// 'trajectory_id'.
rpc ReceiveLocalSlamResults(ReceiveLocalSlamResultsRequest)
returns (stream ReceiveLocalSlamResultsResponse);
// Marks a trajectory corresponding to 'trajectory_id' as finished,
// i.e. no further sensor data is expected.
rpc FinishTrajectory(FinishTrajectoryRequest) returns (google.protobuf.Empty);
// Retrieves a single submap.
rpc GetSubmap(GetSubmapRequest) returns (GetSubmapResponse);
// Returns the current optimized trajectory poses.
rpc GetTrajectoryNodePoses(google.protobuf.Empty)
returns (GetTrajectoryNodePosesResponse);
// Returns the current optimized submap poses.
rpc GetAllSubmapPoses(google.protobuf.Empty)
returns (GetAllSubmapPosesResponse);
// Returns the current local-to-global transform for the trajectory.
rpc GetLocalToGlobalTransform(GetLocalToGlobalTransformRequest)
returns (GetLocalToGlobalTransformResponse);
// Returns the list of constraints in the current optimization problem.
rpc GetConstraints(google.protobuf.Empty) returns (GetConstraintsResponse);
// Requests a PoseGraph to call RunFinalOptimization.
rpc RunFinalOptimization(google.protobuf.Empty)
returns (google.protobuf.Empty);
// Adds map data in the order defined by ProtoStreamReader.
rpc LoadMap(stream LoadMapRequest) returns (google.protobuf.Empty);
}