Types

Types messages provide common types used in location-related messages.

Message Types

GraphNode

Represents a node in a graph structure used for navigation.

Field	Message Type	Description
graph_node_id	string	The ID of the graph node.
graph_node_pose	PointWithOrientation	Point with orientation of the GraphNode.
adjacent_graph_node_ids	string repeated	Adjacent GraphNode IDs that robot can navigate from the current GraphNode.

JSON Example

JSON

  {
    "graphNodeId": "node_001",
    "graphNodePose": {
      "x": 2.5,
      "y": 3.0,
      "orientation": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0,
        "w": 1.0
      }
    },
    "adjacentGraphNodeIds": ["node_002", "node_003"]
  }