Remove ObstacleData

Signed-off-by: Yadunund <yadunund@openrobotics.org>
open-rmf · May 23, 2022 · 61d4db4 · 61d4db4
1 parent 055864a
commit 61d4db4
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Showing 3 changed files with 8 additions and 10 deletions.
diff --git a/rmf_obstacle_msgs/CMakeLists.txt b/rmf_obstacle_msgs/CMakeLists.txt
@@ -20,7 +20,6 @@ find_package(vision_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 set(msg_files
-  "msg/ObstacleData.msg"
   "msg/Obstacle.msg"
   "msg/Obstacles.msg"
 )

diff --git a/rmf_obstacle_msgs/msg/Obstacle.msg b/rmf_obstacle_msgs/msg/Obstacle.msg
@@ -1,3 +1,5 @@
+# All measurements should be w.r.t. header.frame_id
+
 # Standard header
 std_msgs/Header header
 
@@ -16,8 +18,12 @@ string classification
 # Bounding box of the obstacle
 vision_msgs/BoundingBox3D bbox
 
-# 3D representation of the obstacle
-ObstacleData data
+# 3D obstacle data that can be deserialized into an octree.
+# Resolution (in m) of the smallest octree node.
+float64 data_resolution
+
+# Binary serialization of the obstacle octree
+int8[] data
 
 # The expected lifetime of the obstacle
 builtin_interfaces/Duration lifetime

diff --git a/rmf_obstacle_msgs/msg/ObstacleData.msg b/rmf_obstacle_msgs/msg/ObstacleData.msg