Merge branch 'dtyagi/map-services-setup' into 'main'

Initial map management services

See merge request polymathrobotics/polymath_msgs!12

Author: Dhruv Tyagi

CMakeLists.txt

@@ -53,6 +53,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ListVehicleOptions.srv"
   "srv/ListPathLogicOptions.srv"
   "srv/ListReferenceTargets.srv"
+  "srv/ManageMapDataRecording.srv"
+  "srv/GenerateOfflineMap.srv"
+  "srv/LoadMap.srv"
   DEPENDENCIES ${dependencies}
 )
 

srv/GenerateOfflineMap.srv

@@ -0,0 +1,18 @@
+## Request
+
+# Name of the bag / data source (Required)
+string data_source
+
+# Name of the map (Recommended: default name - timestamp)
+string map_name
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# 16-bit unique identification number
+uint16 map_id
+
+# Error messages
+string message

srv/LoadMap.srv

@@ -0,0 +1,30 @@
+## Request
+
+# Load Request Types (enum)
+#
+# BY_ID: Load map by ID
+# BY_NAME: Load map by Name
+
+uint8 BY_ID=0
+uint8 BY_NAME=1
+
+# Type of request (see options above)
+uint8 load_request_type
+
+# Requested map's ID, if using BY_ID
+uint16 map_id
+
+# Requested map's name, if using BY_NAME
+string map_name
+
+# Initial pose for localization (Not implemented currently)
+geometry_msgs/PoseWithCovarianceStamped initial_pose
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string message

srv/ManageMapDataRecording.srv

@@ -0,0 +1,26 @@
+## Request
+
+# Request Type (Enum)
+#
+# STOP: Stop recording map data
+# START: Start recording map data
+
+uint8 STOP=0
+uint8 START=1
+
+# Recording request type
+# (See available options above)
+#
+# default: STOP
+uint8 request_type
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Data file name
+string file_name
+
+# Error messages
+string message