Merge pull request #1 from tuw-robotics/master

Add range-bearing object observations

CMakeLists.txt

@@ -20,6 +20,8 @@ add_message_files(
   NodeIDWithLaserScan.msg
   NodeIDWithPose_vec.msg
   NodeIDWithPose.msg
+  ObservationObject.msg
+  SingleObjectObservation.msg
   ObservationRangeBeacon.msg
   ObservationRangeBearing.msg
   SingleRangeBeaconObservation.msg

msg/ObservationObject.msg

@@ -0,0 +1,23 @@
+# This message holds an observation of one or more landmarks 
+#  detected by their range (distance) + bearing (2 or 3 angles) 
+#  from some sensor on the robot.
+
+# Time of sensor data acquisition, coordinate frame ID.
+Header header
+
+# The sensor pose on the robot coordinates frame.
+geometry_msgs/Pose sensor_pose_on_robot
+
+# Sensor characteristics:
+float64 min_sensor_distance   # In meters (m)
+float64 max_sensor_distance   # (m)
+
+# Typical sensor noise:
+float64 sensor_std_range      # (m)
+float64 sensor_std_yaw        # (rad)
+float64 sensor_std_pitch      # (pitch)
+
+# The vector of individual observations
+SingleObjectObservation[] sensed_data
+
+

msg/SingleObjectObservation.msg

@@ -0,0 +1,11 @@
+#int32 INVALID_LANDMARK_ID = -1
+
+
+float64  range              # Distance, in meters.
+float64  yaw                # Angle wrt +Z (rads)
+float64  pitch              # Angle wrt +Y (rads)
+geometry_msgs/Pose pose_wo  #Pose in world space coordinates
+geometry_msgs/Pose pose_so  #Pose in sensor space coordinates
+float32[] shape_variables   #Shape variables describing the object
+int32    id                 # Landmark ID (or INVALID_LANDMARK_ID if landmarks are not identified)
+