Maps

[cburbridge]

Maps are currently set by parsing a parameter to the launch file. However, I think it would be good to store all maps inside the MongoDB database, as wrapped in strands_datacentre. This would allow additional meta data to be stored attached to maps, for example, the waypoints that are used in autonomous_patrolling could be placed in the datacentre, attached to the correct map.

There is a ros package that does map management: http://ros.org/wiki/map_store. Has anyone ever used this?

It relies on mongo_ros/warehoust_ros to store serialised maps in the mongo database. My thinking had been that we would probably not use mongo_ros / ros_warehouse as it serialises message before storing, preventing interesting database queries, and that we would use something more along the lines of mongodb_log (see for in strands-project). However, maps will be most likely stored serialised.

So some possible options are:

1. Use the map_store package, maybe requiring adaptation to work in our setup. Particularly with regards to its database connection method.
2. Write an alternative map manager, similar to strands_datacentre/config_manager.py
3. Don't put maps in a central store

Is anyone in strands working on anything like this?

[marc-hanheide]

not working on it right now. @Jailander (our new UOL PostDoc) might have a chance to look into this at some point. We definitely should put the maps in the DB. After a brief glimpse map_store looks like a good starting point. I don't think it's an issue to store the map directly in the DB as it also contains meta information to perform queries on, right? We can easily extend this at a later state (and will do). So, summarised: I think we should start using map_store (but fork it into strands to extend it in the future).

[Jailander]

OK that seems interesting, I will take a look at map_store and start working with it, but like @marc-hanheide says I think we could start using map_store and then see how we can integrate this within the mongo database or whatever other thing we may use for central store when this is clear.