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Version: 0.13.0

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/network_maps_validity

Message Type: clearpath_mission_manager_msgs/msg/NetworkMapValidityState

Description: Latched topic that publishes the validity state of all network of paths maps defined on the robot.

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_network_edge

Service Type: clearpath_mission_manager_msgs/srv/AddNetworkEdge

Description: Adds an edge between two vertices in a network of paths map. Edges are unidirectional, but symmetrical edges can be added by setting symmetrical to true.

mission_manager/add_network_path

Service Type: clearpath_mission_manager_msgs/srv/AddNetworkEdge

Description: Adds multiple points and edges to an existing network of paths map. Vertices are supplied in-order, with edges automatically added between adjacent vertices.

mission_manager/add_network_point

Service Type: clearpath_mission_manager_msgs/srv/AddNetworkPoint

Description: Adds a single vertex to a network of paths map. The new vertex can optionally be connected to existing vertices by specifying the connecting points' UUIDs.

mission_manager/add_tag

Service Type: clearpath_mission_manager_msgs/AddRemoveTag

Description: Add a tag to the specific object according to its UUID.

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_network_map

Service Type: clearpath_mission_manager_msgs/srv/CloneNetworkMap

Description: Create a deep-copy of a network of paths map

mission_manager/clone_network_mission

Service Type: clearpath_mission_manager_msgs/srv/CloneNetworkMission

Description: Create a deep-copy of a network of paths mission

mission_manager/clone_point_of_interest

Service Type: clearpath_mission_manager_msgs/srv/ClonePointOfInterest

Description: Create a deep-copy of a point of interest

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_network_map

Service Type: clearpath_mission_manager_msgs/srv/CreateNetworkMap

Description: Create a new network of paths map

mission_manager/create_network_mission

Service Type: clearpath_mission_manager_msgs/srv/CreateNetworkMission

Description: Create a new network of paths mission

mission_manager/create_point_of_interest

Service Type: clearpath_mission_manager_msgs/srv/CreatePointOfInterest

Description: Create a new point of interest

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_missions

Service Type: clearpath_mission_manager_msgs/srv/DeleteMultiple

Description: Delete the missions with the given IDs. Waypoints that are part of these missions are not deleted, as they may be referenced by other Missions.

mission_manager/delete_network_edge

Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById

Description: Delete an edge from a network of paths map

mission_manager/delete_network_edges

Service Type: clearpath_mission_manager_msgs/srv/DeleteMultiple

Description: Delete multiple edges from a network of paths map

mission_manager/delete_network_map

Service Type: clearpath_mission_manager_msgs/srv/DeleteById

Description: Delete a network of paths map. All vertices and edges contained within the map are also deleted.

mission_manager/delete_network_mission

Service Type: clearpath_mission_manager_msgs/srv/DeleteById

Description: Delete a network of paths mission

mission_manager/delete_network_point

Service Type: clearpath_mission_manager_msgs/srv/AddRemoveById

Description: Delete a vertex from a network of paths map. All edges that connect to this vertex at either end are also deleted.

mission_manager/delete_network_points

Service Type: clearpath_mission_manager_msgs/srv/DeleteMultiple

Description: Delete multiple vertices from a network of paths map. All edges that connect to the deleted vertices are also deleted.

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_point_of_interest

Service Type: clearpath_mission_manager_msgs/srv/DeleteById

Description: Delete the point of interest specified by the UUID.

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_tasks

Service Type: clearpath_mission_manager_msgs/srv/DeleteMultiple

Description: Delete the tasks with the given IDs.

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/delete_waypoints

Service Type: clearpath_mission_manager_msgs/srv/DeleteMultiple

Description: Delete the Waypoints with the given IDs. Tasks that are part of these Waypoints are not deleted, as they may be referenced by other Waypoints.

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/restore service or merged with other data using the mission_manager/import service.

note

The data returned in a 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_network_maps

Service Type: clearpath_mission_manager_msgs/srv/GetAllNetworkMaps

Description: Get all network of paths maps defined in the database.

mission_manager/get_all_network_missions

Service Type: clearpath_mission_manager_msgs/srv/GetAllNetworkMissions

Description: Get all network of paths missions defined in the database.

mission_manager/get_all_points of interest

Service Type: clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest

Description: Get all points of interest 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_network_map

Service Type: clearpath_mission_manager_msgs/srv/GetNetworkMap

Description: Get the network of paths map with the specified ID.

mission_manager/get_network_mission

Service Type: clearpath_mission_manager_msgs/srv/GetNetworkMission

Description: Get the network of paths mission with the specified ID.

mission_manager/get_point_of_interest

Service Type: clearpath_mission_manager_msgs/srv/GetPointOfInterest

Description: Get the point of interest 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: Add existing Missions, Tasks, and Waypoints to the database.

note

All imported Missions, Tasks, and Waypoints are added to the existing database. Items whose UUIDs already exist will be skipped & the existing copies re-used. This allows you to copy all mission objects from one robot to another.

To delete all data and restore a backup, instead of merging with existing data, use the /mission_manager/restore service instead.

mission_manager/import_mission

Service Type: clearpath_mission_manager_msgs/srv/ImportMission

Description: Add existing Mission to the database. All UUIDs will be regenerated.

mission_manager/remove_tag

Service Type: clearpath_mission_manager_msgs/AddRemoveTag

Description: Remove a tag to the specific object according to its UUID.

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/restore

Service Type: clearpath_mission_manager_msgs/srv/ImportData

Description: Overwite the database contents with data generated by the mission_manager/export service. This is intended to be used to restore a backup of the missions and roll the database back to an earlier state.

note

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

To merge the data with the existing database, without deleting existing data, use the /mission_manager/import service instead.

mission_manager/split_network_edge

Service Type: clearpath_mission_manager_msgs/srv/SplitNetworkEdge

Description: Split an edge of network of paths map to create 2 edges connected to a new vertex between them. If symmetrical is set to true the new edges will be bidirectional, otherwise only the edge going in one direction is split.

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_network_edge

Service Type: clearpath_mission_manager_msgs/srv/UpdateNetworkEdge

Description: Modify a network of paths edge

mission_manager/update_network_edges

Service Type: clearpath_mission_manager_msgs/srv/UpdateNetworkEdges

Description: Modify multiple network of paths edges

mission_manager/update_network_map

Service Type: clearpath_mission_manager_msgs/srv/UpdateNetworkEdge

Description: Modify a network of paths map

mission_manager/update_network_mission

Service Type: clearpath_mission_manager_msgs/srv/UpdateNetworkMission

Description: Modify a network of paths map

mission_manager/update_network_point

Service Type: clearpath_mission_manager_msgs/srv/UpdateNetworkPoint

Description: Modify a network of paths vertex

mission_manager/update_network_points

Service Type: clearpath_mission_manager_msgs/srv/UpdateNetworkPoints

Description: Modify multiple network of paths vertices

mission_manager/update_point_of_interest

Service Type: clearpath_mission_manager_msgs/srv/UpdatePointOfInterest

Description: Modify multiple network of paths vertices

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.

mission_manager/validate_network_map

Service Type: clearpath_mission_manager_msgs/srv/ValidateNetworkMap

Description: Manually run the network of paths validation on a specific map.