ROS 2 message and service definitions for the OKVIS2-X interfaces. This is a build dependency of the OKVIS2-X ROS 2 nodes/components — clone it into your workspace alongside OKVIS2-X (see the OKVIS2-X README for the full setup).
cd ~/okvis_ws
colcon build --packages-select okvis_msgsThis package only depends on builtin_interfaces, geometry_msgs and std_msgs.
| Message | Purpose |
|---|---|
SubmapVisualMesh |
Triangle mesh of a single submap: vertices (points), per-vertex vertex_colors, and per-triangle triangle_object_ids for object-level colouring. |
SubmapObjectTable |
Per-submap table of detected objects (ObjectDescriptor[]), used for the FindAnything open-vocabulary mapping. |
ObjectDescriptor |
A single object in a submap: object_id, its vision-language descriptor (e.g. 768-d CLIP feature) and pixel support. |
LanguageQuery |
A text query plus rendering options (render_mode, colormap, clamp range, shading) and the query's embedded descriptor, used to colour the map by language activation. |
PoseHistory / PoseHistoryEntry |
Pose-graph history: a list of (state_id, PoseWithCovarianceStamped) entries relative to a reference state, used to re-anchor submaps when the pose graph is optimised. |
| Service | Purpose |
|---|---|
SetMeshCutoff |
Set the z cutoff height (mesh_cutoff_z) for the republished submap mesh; returns whether the value changed. |
These are produced/consumed by the OKVIS2-X publisher and the okvis_submap_republisher
node (see OKVIS2-X okvis_ros2).