Technical Specs

Fig. 6.3.2: Simplified state and transition diagram
These services shall respond quickly. Therefore, for services that cause a state transition the value of the returned
current
_
state in general is the first new (intermediate) state that was transitioned to, not the final state. E.g.,
for the start command the returned current
_
state will be WAITING_FOR_INS, not state RUNNING. If the
transition does not take place within 0.1 seconds, the current state is returned. See Table 6.3.1 for the meaning of
the returned state codes.
Note: The state FATAL can only be left by calling stop, which performs a transition to the state IDLE. The ser-
vices restart and restart
_
slam internally use stop and will also work as expected. start and start
_
slam
only work if the state is IDLE, and do nothing if the state is FATAL.
Note: The dynamics components can also be started and stopped on the Dynamics page of the Web GUI.
get
_
cam2imu
_
transform returns the transformation from camera to IMU coordinate frame. This is equivalent
to the cam2imu
_
transform in the Dynamics message (Section 8.3.3).
This service requires no arguments.
This service returns the following response:
{
"name": "string",
"parent": "string",
"pose": {
"pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
"timestamp": {
"nsec": "int32",
"sec": "int32"
}
}
}
6.3. Sensor dynamics 44