Technical Specs

This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
stop Stops the stereo INS and – if running – the SLAM components. The trajectory estimate of the SLAM com-
ponent will still be available. Transitions from state RUNNING or RUNNING
_
WITH
_
SLAM through STOPPING
to IDLE.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
stop
_
slam Stops the SLAM component. Stereo INS will continue to run. The trajectory estimate of the SLAM
component will still be available. Transitions from state RUNNING
_
WITH
_
SLAM to RUNNING.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
restart Restarts to stereo INS. Equivalent to successive stop and start.
From state RUNNING or RUNNING
_
WITH
_
SLAM: Transitions through states STOPPING, IDLE and
WAITING
_
FOR
_
INS to RUNNING.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
restart
_
slam Restarts to SLAM mode. Equivalent to successive stop and start
_
slam.
From state RUNNING or RUNNING
_
WITH
_
SLAM: Transitions through states STOPPING, IDLE,
WAITING
_
FOR
_
INS
_
AND
_
SLAM, WAITING
_
FOR
_
SLAM to RUNNING
_
WITH
_
SLAM.
This service requires no arguments.
This service returns the following response:
{
"accepted": "bool",
"current
_
state": "string"
}
The following diagram shows the main states and transitions. Intermediate states and the fatal error state are
omitted for conceptual clarity.
6.3. Sensor dynamics 43