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

BaseSemanticMap

Base class for managing semantic maps.

SemanticMapEntry

A single entry in a semantic map.

Module Contents

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.

Variables:

  • entries – Dictionary mapping region names to SemanticMapEntry objects

  • vis_publisher – ROS publisher for visualization markers

entries
node
vis_publisher
add_entry(entry)

Add a single semantic map entry.

Parameters:

entry (SemanticMapEntry) – The semantic map entry to add

Raises:

Exception – If the entry has no name attribute

add_entries(entries: list)

Add multiple semantic map entries.

Parameters:

entries (list[SemanticMapEntry]) – List of semantic map entries to add

publish_visualization_markers(highlighted: set = None, highlight_color=(0.0, 1.0, 0.0), default_color=(0.0, 0.0, 0.7))

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.

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.

Variables:

  • frame_id – The reference frame this region is defined in

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

  • plane_equation – Optional plane equation coefficients

frame_id: str = ''
type: str = ''
plane_equation = None