0x4C11 - ReportCostMap2D

Description

This message is used to report the cost map data in accordance to the received QueryCostMap2D message. While the implementation should seek to satisfy the conditions given in the query message, it is not strictly required to do so. For example, for systems that do not interpolate cost information, the reported resolution may be limited to the resolution of the stored map data rather than the requested resolution. Similarly, the size of the returned map may be limited by internal storage rather than the requested values.

Structure

ReportCostMap2D
 CostMap2DSeq
   CostMap2DRec
   CostMap2DPoseVar
     CostMap2DGlobalPoseRec
     CostMap2DLocalPoseRec
   CostMap2DDataVar
     CostDataList
       CostDataRec
     CostAndConfidenceDataList
       CostAndConfidenceDataRec
     RunLengthEncodedDataList
       RunLengthEncodedDataRec
     CostOrAttractivenessList
       CostOrAttractivenessRec

CostMap2DSeq

Type: Sequence

Field #	Field Name	Type	Optional
1	CostMap2DRec	CostMap2DRec	false
2	CostMap2DPoseVar	CostMap2DPoseVar	false
3	CostMap2DDataVar	CostMap2DDataVar	false

CostMap2DRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	NumberOfRows	uint16	one	false	Number of rows in the map data.
2	NumberOfColumns	uint16	one	false	Number of columns in the map data.
3	MapWidth	uint32	meter	false	Total width of the cost map.
4	MapHeight	uint32	meter	false	Total height of the cost map.

CostMap2DPoseVar

Type: Variant

Index	Type
0	CostMap2DGlobalPoseRec
1	CostMap2DLocalPoseRec

CostMap2DGlobalPoseRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	MapCenterLatitude	uint32	degree	false
2	MapCenterLongitude	uint32	degree	false
3	MapRotation	uint16	radian	false

CostMap2DLocalPoseRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	MapCenterX	uint32	meter	false
2	MapCenterY	uint32	meter	false
3	MapRotation	uint16	radian	false

CostMap2DDataVar

Type: Variant

Index	Type
0	CostDataList
1	CostAndConfidenceDataList
2	RunLengthEncodedDataList
3	CostOrAttractivenessList

CostDataList

Type: List

Element Type	Count Type	Min Count	Max Count
CostDataRec	uint16	0	65535

CostDataRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	Cost	uint8	one	false	Value 0-254: A value of 0 indicates no cost (no restriction). A value of 254 means maximum cost (non-traversable or no-go zone). A value of 255 means the cost of the cell is unknown.

CostAndConfidenceDataList

Type: List

Element Type	Count Type	Min Count	Max Count
CostAndConfidenceDataRec	uint16	0	65535

CostAndConfidenceDataRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	Cost	uint8	one	false	Value 0-254: Cost value associated with the cell. A value of 0 indicates no cost (no restriction). A value of 254 means maximum cost (non-traversable or no-go zone). A value of 255 means the cost of the cell is unknown.
2	Confidence	uint8	one	false	Confidence value associated with the cost of the cell. A value of 0 means there is no confidence in the specified cost (unknown cost). A value of 100 means the cost of the cell is known perfectly.

RunLengthEncodedDataList

Type: List

Element Type	Count Type	Min Count	Max Count
RunLengthEncodedDataRec	uint16	0	65535

RunLengthEncodedDataRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	CostAndRunLength	uint16		false

CostOrAttractivenessList

Type: List

Element Type	Count Type	Min Count	Max Count
CostOrAttractivenessRec	uint16	0	65535

CostOrAttractivenessRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	CostOrAttractiveness	uint8		false