Users Manual

rc_slam
started
rc_slam
stopped
Time (hh:mm:ss)
Whole trajectory
+60s
+15s
– 60s
+15s
–15s
Selected subset
–15s
12:00:00 12:00:15 12:01:00 12:01:15
start_time
end_time
Parameters
(relative)
Fig. 7.1.1: Examples for combinations of relative start and end times for the get
_
trajectory service. All
combinations shown select the same subset of the trajectory.
Note: A relative start
_
time of zero will select everything from the start of the trajectory, whereas
a relative end
_
time of zero will select everything to the end of the trajectory. Absolute zero values
effectively do the same, so one can set all values zero to get the full trajectory.
The field return
_
code in the answer contains a status value and message. The value will be zero or greater
on success, where zero is the regular case and positive values indicate a special condition. Negative values
signal an error.
The field producer indicates where the trajectory data comes from and is always slam.
The following table contains a list of common codes:
Code Description
0 Success
-1 An invalid argument was provided (e.g., an invalid time range)
101 Trajectory is empty, because there is no data in the given time range
102 Trajectory is empty, because there is no data at all (e.g., when SLAM is IDLE)
This service requires the following arguments:
{
"end
_
time": {
"nsec": "int32",
"sec": "int32"
},
"end
_
time
_
relative": "bool",
"start
_
time": {
"nsec": "int32",
"sec": "int32"
},
"start
_
time
_
relative": "bool"
}
This service returns the following response:
7.1. SLAM 70