Map¶

Map messages provide information about maps and map content.

Message Types¶

Map¶

Represents a map within the robot's operational environment.

Field	Message Type	Description
`map_id`	`string`	Example: "9578"
`created_time`	`Timestamp`	The time when the map was created.
`modified_time`	`Timestamp`	The time when the map was last modified.
`display_name`	`string`	Example: "ITCT SEOUL"
`map_data_id`	`string`	Current map data identifier that represents this map.
`annotation_ids`	`string` repeated	List of annotation identifiers associated with this map.
`current_annotation_id`	`string`	Current annotation identifier.

JSON Example¶

JSON

  {
    "mapId": "9578",
    "displayName": "ITCT SEOUL",
    "mapDataId": "map_data_001",
    "annotationIds": ["67305"],
    "currentAnnotationId": "67305"
  }

MapContent¶

Represents the content of a map which includes the map data and annotation.

Field	Message Type	Description
`map_id`	`string`	The map identifier.
`data`	`Data`	The map image data and metadata.
`annotation`	`Annotation`	The annotation associated with this map.

MapContent.Data¶

The image PNG data for the map.

Field	Message Type	Description
`data`	`bytes`	The image PNG data for the map.
`origin`	`Origin`	The origin of the map.
`m_per_pixel`	`float`	Maps real-world size to pixelated size. (meters per pixel) This value is equivalent to the resolution defined in the ROS map server. https://wiki.ros.org/map_server

MapContent.Annotation¶

The annotation associated with this map.

Field	Message Type	Description
`destinations`	repeated `Destination`	List of destinations in the annotation.

JSON Example¶

JSON

  {
    "mapId": "9578",
    "data": {
      "data": "<base64_encoded_png_data>",
      "origin": {
        "xM": 0.0,
        "yM": 0.0,
        "yawRadians": 0.0
      },
      "mPerPixel": 0.05
    },
    "annotation": {
      "destinations": []
    }
  }

MapData¶

Represents the data of a map which includes the url, origin, and resolution.

Field	Message Type	Description
`map_data_id`	`string`	The map data identifier.
`url`	`string`	URL to the image data for the map.
`origin`	`Origin`	The Origin of the map.
`m_per_pixel`	`float`	Maps real-world size to pixelated size (meters per pixel) This value is equivalent to the "resolution" defined in the ROS map server https://wiki.ros.org/map_server

JSON Example¶

JSON

  {
    "mapDataId": "map_data_001",
    "url": "https://example.com/maps/map.png",
    "origin": {
      "xM": 0.0,
      "yM": 0.0,
      "yawRadians": 0.0
    },
    "mPerPixel": 0.05
  }

Origin¶

The 2D pose of the map's origin (x, y, yaw) in meters and radians. This value is equivalent to the origin defined in the ROS map server. https://wiki.ros.org/map_server

Field	Message Type	Description
`x_m`	`float`	This is the (x, y) coordinate of the origin of the map in the world frame.
`y_m`	`float`	This is the y-coordinate of the origin of the map in the world frame.
`yaw_radians`	`float`	This is the rotation around the z-axis (counterclockwise) of the map with respect to the world frame. A yaw of 0 means no rotation.

JSON Example¶

JSON

  {
    "xM": 0.0,
    "yM": 0.0,
    "yawRadians": 0.0
  }