robokudo.semantic_map

Semantic map management for RoboKudo.

This module provides classes for managing semantic maps in RoboKudo. A semantic map represents the environment as a collection of named regions with spatial properties. The module supports:

• Storage and retrieval of semantic map entries

• Visualization of regions using ROS markers

• Region definitions with position, orientation and size

Classes

SemanticMapEntry	A single entry in a semantic map.
BaseSemanticMap	Base class for managing semantic maps.

Module Contents

class robokudo.semantic_map.SemanticMapEntry

Bases: robokudo.defs.Region3DWithName

A single entry in a semantic map.

This class extends Region3DWithName to add semantic information to regions. Each entry has a reference frame ID and a semantic type.

frame_id: str = ''

The reference frame this region is defined in

type: str = ''

The semantic type of this region (e.g. “CounterTop”)

plane_equation: typing_extensions.List[float] = None

Plane equation coefficients

class robokudo.semantic_map.BaseSemanticMap

Base class for managing semantic maps.

This class provides functionality to store and visualize semantic map entries. Each entry represents a named region in the environment with spatial properties. The map can be visualized using ROS visualization markers.

entries: typing_extensions.Dict

Dictionary mapping region names to SemanticMapEntry objects.

node: rclpy.node.Node

ROS node for publishing visualization markers.

vis_publisher: rclpy.publisher.Publisher

ROS publisher for visualization markers

add_entry(entry: SemanticMapEntry) → None

Add a single semantic map entry.

Parameters:

entry – The semantic map entry to add

Raises:

Exception – If the entry has no name attribute

add_entries(entries: typing_extensions.List[SemanticMapEntry]) → None

Add multiple semantic map entries.

Parameters:

entries – List of semantic map entries to add

publish_visualization_markers(highlighted: typing_extensions.Set[str] = None, highlight_color: typing_extensions.Tuple[float, float, float] = (0.0, 1.0, 0.0), default_color: typing_extensions.Tuple[float, float, float] = (0.0, 0.0, 0.7)) → None

Publish visualization markers for all map entries.

Creates and publishes ROS visualization markers for each semantic map entry. Each entry is visualized as a cube with a text label showing its name.

Parameters:

• highlighted – Set of region names to highlight (default: None)

• highlight_color – Color to use for highlighted regions (default: green)

• default_color – Color to use for non-highlighted regions (default: dark blue)