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Version: 0.9.0

Mission Manager API

The Mission Manager API allows creation, deletion, and modification of OutdoorNav missions. Mission data is stored in a databse-like structure on-disk. The web UI is the primary method of managing missions, but this service API provides the ability to write your own UI if desired.

Topics Exported by Mission Manager

mission_manager/state

Message Type: clearpath_mission_manager_msgs/msg/StorageState

Description: Latched topic that publishes the current database contents every time a change is made.

Services Exported by Mission Manager

mission_manager/add_task_to_waypoint

Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById

Description: Add an existing Task to an existing Waypoint. If the position parameter is negative the Task is added to the end of the Waypoint's tasks list.

mission_manager/add_waypoint_to_mission

Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById

Description: Add an existing Waypoint to an existing Mission. If the position parameter is negative the Waypoint is added to the end of the Task's waypoints list.

mission_manager/clone_mission

Service Type: clearpath_mission_manager_msgs/srv/CloneMission

Description: Create a deep-copy of a Mission. The new Mission will be given the provided name, or reuse the original mission's name wth -copy appended to the end if no name is provided. All Waypoints and their associated Tasks are also deep-copied. If the reverse parameter is set to true the order of waypoints is reversed in the new mission.

note

In 0.8.0 onward, all missions are required to have unique names. If the specified name is not unique the cloning will fail. Cloning a mission multiple times without specifying a unique name will add incrementing numbers to the suffix: -copy for the first, -copy1 for the second, -copy2 for the third, and so on.

note

The reverse parameter was added in 0.9.0 and is not available in older versions.

mission_manager/clone_task

Service Type: clearpath_mission_manager_msgs/srv/GetTask

Description: Create a deep-copy of a Task.

mission_manager/clone_waypoint

Service Type: clearpath_mission_manager_msgs/srv/GetWaypoint

Description: Create a deep-copy of a Waypoint. The new Waypoint will be renamed to have -copy at the end. All Tasks in the original Waypoint are also duplicated.

mission_manager/create_mission

Service Type: clearpath_mission_manager_msgs/srv/CreateMission

Description: Create a new Mission.

note

In 0.8.0 onward, all missions are required to have unique names. Creating a mission with a duplicate mission will fail.

mission_manager/create_task

Service Type: clearpath_mission_manager_msgs/srv/CreateTask

Description: Create a new Task.

mission_manager/create_waypoint

Service Type: clearpath_mission_manager_msgs/srv/CreateWaypoint

Description: Create a new Waypoint.

mission_manager/delete_all

Service Type: clearpath_mission_manager_msgs/srv/DeleteEverything

Description: Delete everything in the database.

note

Use with extreme caution; this procedure cannot be undone.

mission_manager/delete_mission

Service Type: clearpath_mission_manager_msgs/srv/DeleteById

Description: Delete the Mission with the given ID. Waypoints that are included in this mission are not deleted, as they may be referenced by other Missions.

mission_manager/delete_orphan_objects

Service Type: clearpath_mission_manager_msgs/srv/DeleteEverything

Description: Delete all Waypoints that are not referenced by any Missions and all Tasks that are not referenced by any Waypoints.

note

Use with caution; deleted items cannot be recovered.

mission_manager/delete_task

Service Type: clearpath_mission_manager_msgs/srv/DeleteById

Description: Delete the Task with the given ID. Any Waypoints that reference the deleted Task will be modified to omit this Task once it is deleted.

mission_manager/delete_waypoint

Service Type: clearpath_mission_manager_msgs/srv/DeleteById

Description: Delete the Waypoint with the given ID. Tasks that are included in this mission are not deleted, as they may be referenced by other Waypoints. Any Missions that reference the deleted Waypoint will be modified to omit this Waypoint once it is deleted.

mission_manager/export

Service Type: clearpath_mission_manager_msgs/srv/ExportData

Description: Export the database so its contents can be restored later using the mission_manager/import service.

note

The data returned in a base64 encoded, gzipped JSON string representing the underlying storage file's contents.

mission_manager/get_all

Service Type: clearpath_mission_manager_msgs/srv/GetEverything

Description: Get the entire contents of the database, including all Missions, Tasks, and Waypoints.

note

If you need to maintain an up-to-date copy of the database state, rather than calling this service repeatedly you should subscribe to the mission_manager/state topic.

mission_manager/get_all_missions

Service Type: clearpath_mission_manager_msgs/srv/GetAllMissions

Description: Get all Missions defined in the database.

mission_manager/get_all_tasks

Service Type: clearpath_mission_manager_msgs/srv/GetAllTasks

Description: Get all Tasks defined in the database.

mission_manager/get_all_waypoints

Service Type: clearpath_mission_manager_msgs/srv/GetAllWaypoints

Description: Get all Waypoints defined in the database.

mission_manager/get_mission

Service Type: clearpath_mission_manager_msgs/srv/GetMission

Description: Get the Mission with the specified ID.

mission_manager/get_task

Service Type: clearpath_mission_manager_msgs/srv/GetTask

Description: Get the Task with the specified ID.

mission_manager/get_waypoint

Service Type: clearpath_mission_manager_msgs/srv/GetWaypoint

Description: Get the Waypoint with the specified ID.

mission_manager/import

Service Type: clearpath_mission_manager_msgs/srv/ImportData

Description: Overwite the database contents with data generated by the mission_manager/export service.

note

All existing Missions, Tasks and Waypoints are deleted permanently and the entire database contents are replaced with the imported data.

The data itself is a base64 encoded JSON string representing the underlying on-disk storage.

mission_manager/remove_task_from_waypoint

Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById

Description: Remove a Task from a Waypoint. All instances of the Task are removed from the given Waypoint.

mission_manager/remove_waypoint_from_mission

Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById

Description: Remove a Waypoint from a Mission. All instances of the Waypoint are removed from the given Mission.

mission_manager/update_mission

Service Type: clearpath_mission_manager_msgs/srv/UpdateMission

Description: Modify a Mission. All attributes of the Mission are replaced with the provided values.

note

In 0.8.0 onward, all missions are required to have unique names. Assigning a name that is already in-use will result in an error.

mission_manager/update_task

Service Type: clearpath_mission_manager_msgs/srv/UpdateTask

Description: Modify a Task. All attributes of the Task are replaced with the provided values.

mission_manager/update_waypoint

Service Type: clearpath_mission_manager_msgs/srv/UpdateWaypoint

Description: Modify a Waypoint. All attributes of the Waypoint are replaced with the provided values.