105 lines
3.3 KiB
Protocol Buffer
105 lines
3.3 KiB
Protocol Buffer
// Copyright 2017 The Cartographer Authors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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syntax = "proto3";
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import "cartographer/mapping/proto/pose_graph.proto";
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import "cartographer/mapping/proto/trajectory_builder_options.proto";
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import "cartographer/sensor/proto/sensor.proto";
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import "cartographer/transform/proto/transform.proto";
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import "google/protobuf/empty.proto";
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package cartographer_grpc.proto;
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message AddTrajectoryRequest {
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repeated string expected_sensor_ids = 1;
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cartographer.mapping.proto.TrajectoryBuilderOptions
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trajectory_builder_options = 2;
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}
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message SensorMetadata {
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int32 trajectory_id = 1;
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string sensor_id = 2;
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}
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message AddTrajectoryResponse {
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int32 trajectory_id = 1;
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}
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message AddOdometryDataRequest {
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SensorMetadata sensor_metadata = 1;
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cartographer.sensor.proto.OdometryData odometry_data = 2;
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}
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message AddImuDataRequest {
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SensorMetadata sensor_metadata = 1;
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cartographer.sensor.proto.ImuData imu_data = 2;
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}
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message AddRangefinderDataRequest {
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SensorMetadata sensor_metadata = 1;
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cartographer.sensor.proto.TimedPointCloudData timed_point_cloud_data = 2;
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}
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message AddFixedFramePoseDataRequest {
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SensorMetadata sensor_metadata = 1;
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cartographer.sensor.proto.FixedFramePoseData fixed_frame_pose_data = 2;
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}
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message FinishTrajectoryRequest {
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int32 trajectory_id = 1;
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}
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message ReceiveLocalSlamResultsRequest {
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int32 trajectory_id = 1;
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}
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message ReceiveLocalSlamResultsResponse {
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int32 trajectory_id = 1;
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int64 timestamp = 2;
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cartographer.transform.proto.Rigid3d local_pose = 3;
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cartographer.sensor.proto.RangeData range_data = 4;
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cartographer.mapping.proto.NodeId node_id = 5;
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}
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service MapBuilderService {
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// Starts a new trajectory and returns its index.
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rpc AddTrajectory(AddTrajectoryRequest) returns (AddTrajectoryResponse);
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// Adds odometry data from the sensor with id 'sensor_metadata.sensor_id' to
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// the trajectory corresponding to 'sensor_metadata.trajectory_id'.
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rpc AddOdometryData(stream AddOdometryDataRequest)
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returns (google.protobuf.Empty);
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// Same for IMU data.
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rpc AddImuData(stream AddImuDataRequest) returns (google.protobuf.Empty);
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// Same for range-finder data.
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rpc AddRangefinderData(stream AddRangefinderDataRequest)
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returns (google.protobuf.Empty);
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// Same for fixed-frame pose data.
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rpc AddFixedFramePoseData(stream AddFixedFramePoseDataRequest)
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returns (google.protobuf.Empty);
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// Requests the server to send a stream of local SLAM results for the given
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// 'trajectory_id'.
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rpc ReceiveLocalSlamResults(ReceiveLocalSlamResultsRequest)
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returns (stream ReceiveLocalSlamResultsResponse);
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// Marks a trajectory corresponding to 'trajectory_id' as finished,
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// i.e. no further sensor data is expected.
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rpc FinishTrajectory(FinishTrajectoryRequest) returns (google.protobuf.Empty);
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}
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