tutorial10

Tutorial 10) Querying the world model

Prerequisites

• Tutorial 09

Tutorial

Get

The information query interface to obtain information:

• /ed/query
• /ed/simple_query

ed simple query examples

Query a specific entity by id or type:

rosservice call /ed/simple_query "id: 'robot-lab/cabinet'"
rosservice call /ed/simple_query "type: 'cabinet'"

entities:
  - id: robot-lab/cabinet
    type: cabinet
    types: ['cabinet']
    existence_probability: 1.0
    last_update_time:
      secs: 0
      nsecs: 0
    creation_time:
      secs: 0
      nsecs: 0
    has_shape: True
    has_pose: True
    pose:
      position:
        x: 3.31038931855
        y: 4.35323712675
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.999976605976
        w: -0.00684013893005
    data: id: cabinet
type: cabinet
areas:
    - name: near
      offset: 0.7
    - name: in_front_of
      shape:
          - box:
                max:
                    x: 0
                    y: 0.395
                    z: 0
                min:
                    x: -0.7
                    y: -0.395
                    z: 0
    - name: on_top_of
      shape:
          - box:
                max:
                    x: 0.17
                    y: 0.37
                    z: 1.2
                min:
                    x: -0.17
                    y: -0.37
                    z: 0.845
color:
    blue: 0.1
    green: 0.1
    red: 0.1
pose:
    X: 0
    Y: 0
    Z: 0
    x: 3.3
    y: 4.35
    z: 0
shape:
    __model_path__: /home/amigo/ros/indigo/system/src/ed_tutorials/tutorial09/my-model-dir/cabinet
    compound:
        - box:
              pose:
                  x: 0
                  y: -0.37
                  z: 0.395
              size:
                  x: 0.395
                  y: 0.05
                  z: 0.79
        - box:
              pose:
                  x: 0
                  y: 0.37
                  z: 0.395
              size:
                  x: 0.395
                  y: 0.05
                  z: 0.79
        - box:
              pose:
                  x: 0
                  y: 0
                  z: 0.765
              size:
                  x: 0.395
                  y: 0.69
                  z: 0.05
        - box:
              pose:
                  x: 0
                  y: 0
                  z: 0.025
              size:
                  x: 0.395
                  y: 0.69
                  z: 0.05
        - box:
              pose:
                  x: 0
                  y: 0
                  z: 0.395
              size:
                  x: 0.395
                  y: 0.69
                  z: 0.02
        - box:
              pose:
                  x: 0
                  y: 0
                  z: 0.395
              size:
                  x: 0.395
                  y: 0.02
                  z: 0.69

    flags: []
    convex_hull:
      - x: 0.202885106206
        y: -0.392261236906
        z: 0.0
      - x: 0.197618320584
        y: -0.00729727279395
        z: 0.0
      - x: 0.192077934742
        y: 0.397664815187
        z: 0.0
      - x: -0.202885106206
        y: 0.392261236906
        z: 0.0
      - x: -0.197618320584
        y: 0.00729727279395
        z: 0.0
      - x: -0.192077934742
        y: -0.397664815187
        z: 0.0
    z_min: 0.0
    z_max: 0.790000021458

Query a specific entity by point, radius:

rosservice call /ed/simple_query "{center_point: {x: 0.0, y: 0.0, z: 0.0}, radius: 10.0}"

entities:
  - id: _root
    type: ''
    types: ['', 'robot-lab']
    existence_probability: 1.0
    last_update_time:
      secs: 0
      nsecs: 0
    creation_time:
      secs: 0
      nsecs: 0
    has_shape: False
    has_pose: True
    pose:
      position:
        x: 0.0
        y: 0.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    data: composition:
    - id: walls
      type: robot-lab/walls
      pose:
          x: 0
          y: 0
          z: 0
    - id: cabinet
      type: cabinet
      pose:
          X: 0
          Y: 0
          Z: 0
          x: 3.3
          y: 4.35
          z: 0

    flags: []
    convex_hull: []
    z_min: 0.0
    z_max: 0.0

  - id: amigo
    type: ''
    types: []
    existence_probability: 1.0
    last_update_time:
      secs: 0
      nsecs: 0
    creation_time:
      secs: 0
      nsecs: 0
    has_shape: False
    has_pose: True
    pose:
      position:
        x: 2.08145662765
        y: 4.28862995805
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.00302416455724
        w: 0.999995427204
    data: ''
    flags: []
    convex_hull: []
    z_min: 0.0
    z_max: 0.0

  - id: 486c8a807eeb4ba5b27ed53e5af9ad7e
    type: ''
    types: []
    existence_probability: 1.0
    last_update_time:
      secs: 1458123518
      nsecs: 55305719
    creation_time:
      secs: 0
      nsecs: 0
    has_shape: False
    has_pose: True
    pose:
      position:
        x: 3.20672726631
        y: 4.65346574783
        z: 0.859719991684
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    data: ''
    flags: ['locked']
    convex_hull:
      - x: 0.0392239093781
        y: 0.00583171844482
        z: 0.0
      - x: 0.0333766937256
        y: 0.0224719047546
        z: 0.0
      - x: 0.0152773857117
        y: 0.034679889679
        z: 0.0
      - x: 0.00480675697327
        y: 0.0371370315552
        z: 0.0
      - x: -0.00618934631348
        y: 0.0364503860474
        z: 0.0
      - x: -0.0141360759735
        y: 0.0331206321716
        z: 0.0
      - x: -0.0250930786133
        y: 0.0275864601135
        z: 0.0
      - x: -0.0349221229553
        y: 0.0225324630737
        z: 0.0
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        y: 0.0215191841125
        z: 0.0
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        y: 0.00861024856567
        z: 0.0
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        y: 0.00386571884155
        z: 0.0
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        y: 0.00146055221558
        z: 0.0
      - x: -0.0390927791595
        y: 0.000222682952881
        z: 0.0
      - x: -0.0391449928284
        y: -0.00184440612793
        z: 0.0
      - x: -0.0392239093781
        y: -0.00527811050415
        z: 0.0
      - x: -0.038321018219
        y: -0.0113458633423
        z: 0.0
      - x: -0.0376143455505
        y: -0.0131440162659
        z: 0.0
      - x: -0.0341644287109
        y: -0.0203342437744
        z: 0.0
      - x: -0.0328481197357
        y: -0.0226497650146
        z: 0.0
      - x: -0.0304548740387
        y: -0.0249772071838
        z: 0.0
      - x: -0.0247893333435
        y: -0.0302429199219
        z: 0.0
      - x: -0.0180222988129
        y: -0.0336847305298
        z: 0.0
      - x: -0.0152671337128
        y: -0.0347476005554
        z: 0.0
      - x: -0.00635170936584
        y: -0.0366768836975
        z: 0.0
      - x: -0.00380802154541
        y: -0.0371370315552
        z: 0.0
      - x: 0.00248384475708
        y: -0.0362648963928
        z: 0.0
      - x: 0.00587153434753
        y: -0.0356140136719
        z: 0.0
      - x: 0.0167899131775
        y: -0.0321588516235
        z: 0.0
      - x: 0.0214669704437
        y: -0.030647277832
        z: 0.0
      - x: 0.0261623859406
        y: -0.0289626121521
        z: 0.0
      - x: 0.0326766967773
        y: -0.0188050270081
        z: 0.0
      - x: 0.0389218330383
        y: -0.00458240509033
        z: 0.0
      - x: 0.0391759872437
        y: 0.00169086456299
        z: 0.0
    z_min: -0.0732472240925
    z_max: 0.0732472240925

  - id: 94a87f4c8c6e45ce1f813ae510713fed
    type: ''
    types: []
    existence_probability: 1.0
    last_update_time:
      secs: 1458123518
      nsecs: 55305719
    creation_time:
      secs: 0
      nsecs: 0
    has_shape: False
    has_pose: True
    pose:
      position:
        x: 3.2149078846
        y: 4.05492448807
        z: 0.875109434128
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    data: ''
    flags: ['locked']
    convex_hull:
      - x: 0.051558971405
        y: -0.00374507904053
        z: 0.0
      - x: 0.050498008728
        y: 0.00256013870239
        z: 0.0
      - x: 0.0370371341705
        y: 0.0230326652527
        z: 0.0
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        y: 0.0290865898132
        z: 0.0
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        y: 0.0295491218567
        z: 0.0
      - x: 0.0217325687408
        y: 0.0300130844116
        z: 0.0
      - x: -0.051558971405
        y: 0.0413913726807
        z: 0.0
      - x: -0.0230357646942
        y: -0.0182433128357
        z: 0.0
      - x: -0.0197319984436
        y: -0.0245342254639
        z: 0.0
      - x: -0.0139212608337
        y: -0.030122756958
        z: 0.0
      - x: -0.0100123882294
        y: -0.033383846283
        z: 0.0
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        z: 0.0
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        y: -0.0392169952393
        z: 0.0
      - x: 0.00447726249695
        y: -0.0397019386292
        z: 0.0
      - x: 0.00963139533997
        y: -0.0409693717957
        z: 0.0
      - x: 0.0129361152649
        y: -0.0413913726807
        z: 0.0
      - x: 0.0178425312042
        y: -0.0410504341125
        z: 0.0
      - x: 0.0277817249298
        y: -0.039183139801
        z: 0.0
      - x: 0.0340149402618
        y: -0.0365395545959
        z: 0.0
      - x: 0.0472724437714
        y: -0.0272698402405
        z: 0.0
      - x: 0.0507864952087
        y: -0.0137157440186
        z: 0.0
    z_min: -0.0582370460033
    z_max: 0.0582370460033

  - id: d6cce35c487a58feab29032c2621f38d
    type: ''
    types: []
    existence_probability: 1.0
    last_update_time:
      secs: 1458123518
      nsecs: 55305719
    creation_time:
      secs: 0
      nsecs: 0
    has_shape: False
    has_pose: True
    pose:
      position:
        x: 3.45482587814
        y: 4.35548448563
        z: 0.878841638565
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    data: ''
    flags: ['locked']
    convex_hull:
      - x: 0.0232918262482
        y: -0.0268640518188
        z: 0.0
      - x: 0.0224661827087
        y: 0.0357685089111
        z: 0.0
      - x: 0.018119096756
        y: 0.0356936454773
        z: 0.0
      - x: 0.0111262798309
        y: 0.0349197387695
        z: 0.0
      - x: -0.0213444232941
        y: 0.0296258926392
        z: 0.0
      - x: -0.0232920646667
        y: 0.0290665626526
        z: 0.0
      - x: -0.0199267864227
        y: -0.0015811920166
        z: 0.0
      - x: -0.0182507038116
        y: -0.010627746582
        z: 0.0
      - x: -0.017902135849
        y: -0.0119400024414
        z: 0.0
      - x: -0.0138068199158
        y: -0.0209307670593
        z: 0.0
      - x: -0.0107560157776
        y: -0.024778842926
        z: 0.0
      - x: -0.00377416610718
        y: -0.0300679206848
        z: 0.0
      - x: -0.000791072845459
        y: -0.0320043563843
        z: 0.0
      - x: 0.00361275672913
        y: -0.0346345901489
        z: 0.0
      - x: 0.0228731632233
        y: -0.0357685089111
        z: 0.0
    z_min: -0.0612957775593
    z_max: 0.0612957775593

ed query interface

Returns json diff since a specified revision

rosservice call /ed/query "since_revision: 0

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