00001 /* 00002 * Short description. 00003 * 00004 * Long description: 00005 * - description of general role 00006 * - description of used actions with associated result (DONE when, FAIL if...) 00007 * 00008 * Interaction with the map (created by this jockey): 00009 * - [Getter][/][Setter], message type, interface default name 00010 * - Getter/Setter: VectorLaserScan, jockey_name + "_laser_descriptor" 00011 * 00012 * Interaction with the map (created by other jockeys): 00013 * - [Getter][/][Setter], message type, interface default name 00014 * - Getter: VectorLaserScan, "laser_descriptor" 00015 * 00016 * Subscribers (other than map-related): 00017 * - message type, topic default name, description 00018 * - sensor_msgs::LaserScan, "~/base_scan", 360-deg laser-scan. 00019 * 00020 * Publishers (other than map-related): 00021 * - message type, topic default name, description 00022 * - nav_msgs::Pose, "~/pose", robot pose 00023 * 00024 * Services used (other than map-related): 00025 * - service type, server default name, description 00026 * - place_matcher_msgs::PolygonDissimilarity, "~/dissimilarity_server", used to 00027 * compare all known places with the current place 00028 * 00029 * Parameters: 00030 * - name, type, default value, description 00031 */ 00032 00033