Map

Request Definition:

uint8 WHITE=0
uint8 BLACK=1

uint16 DEFAULT_WIDTH=1024
uint16 DEFAULT_HEIGHT=600

string[] entities_in_view       # All entities that need to be in view
uint8 background                # Background colour
bool print_labels               # Print entity labels
uint16 image_width              # Requested image width
uint16 image_height             # Requested image height

Response Definition:

sensor_msgs/Image map           # Generated image
float32 pixels_per_meter_width  # Pixels per meter in width direction
float32 pixels_per_meter_height # Pixels per meter in height direction
geometry_msgs/PoseStamped pose  # Pose of the top-left corner of the image in the world