VPRLocalRelocalization

Service type: fourier_msgs/srv/VPRLocalRelocalization

Service name: /slam/trigger_local_relocalization

Description

Trigger local relocalization inside a polygon in the map frame. An empty polygon_vertices array falls back to global relocalization, equivalent to /slam/global_relocalization.

Request

Field	Type	Description
polygon_vertices	geometry_msgs/Point32[]	Vertices of the 2D search polygon in the map frame; z values are ignored.

Response

Field	Type	Description
success	bool	Whether the request was accepted and relocalization started.
message	string	Result description.
candidate_count	int32	Number of keyframes selected inside the polygon; zero when no vertices are supplied.

Prerequisites

• The system is in localization mode.
• A map has been loaded.

Examples

Example 1

Bash

ros2 service call /slam/trigger_local_relocalization \
  fourier_msgs/srv/VPRLocalRelocalization \
  "{polygon_vertices: [{x: 0.0, y: 0.0, z: 0.0}, {x: 5.0, y: 0.0, z: 0.0}, {x: 5.0, y: 5.0, z: 0.0}, {x: 0.0, y: 5.0, z: 0.0}]}"

Related Services

Service	Description
/slam/global_relocalization	Trigger global relocalization.