From 39e7faad189cdac542dfe4eff0ca0e1223e5cf08 Mon Sep 17 00:00:00 2001 From: Alireza Date: Fri, 19 Oct 2018 11:10:33 +0200 Subject: [PATCH] docs: Add documentation related to `bagfile_progress` publisher (#1039) Add documentations related to the feature introduced in #940. --- docs/source/ros_api.rst | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/docs/source/ros_api.rst b/docs/source/ros_api.rst index c07f20a..c367f82 100644 --- a/docs/source/ros_api.rst +++ b/docs/source/ros_api.rst @@ -160,6 +160,24 @@ Once it is done processing all data, it writes out the final Cartographer state .. _offline_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/offline_node_main.cc +Published Topics +---------------- + +In addition to the topics that are published by the online node, this node also publishes: + +~bagfile_progress (`cartographer_ros_msgs/BagfileProgress`_) + Bag files processing progress including detailed information about the bag currently being processed which will be published with a predefined + interval that can be specified using ``~bagfile_progress_pub_interval`` ROS parameter. + +.. _cartographer_ros_msgs/BagfileProgress: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/BagfileProgress.msg + +Parameters +---------- + +~bagfile_progress_pub_interval (double, default=10.0): + The interval of publishing bag files processing progress in seconds. + + Occupancy grid Node ===================