eidos CLI

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.

eidos CLI

Command-line tool for inspecting and exporting eidos .map files. Available as eidos after sourcing the workspace.

Commands

`eidos info <map_file>`

Print map metadata: version, keyframe count, edge count, spatial bounds, data formats, and decoded global data.

eidos info /opt/watonomous/maps/wrestrc.map

`eidos poses <map_file>`

Dump keyframe poses as CSV to stdout.

eidos poses /opt/watonomous/maps/wrestrc.map > poses.csv

Output columns: id, gtsam_key, x, y, z, roll, pitch, yaw, time, owner

`eidos map <map_file> --key <data_key> -o <output.pcd>`

Build a combined world-frame point cloud from a specified keyframe data key.

# Full resolution map from LISO clouds
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map.pcd

# Downsampled map
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_ds.pcd --voxel 0.5

# Every 5th keyframe only
eidos map /opt/watonomous/maps/wrestrc.map --key liso_factor/cloud -o map_sparse.pcd --skip 5

Supports pcl_pcd_binary and small_gicp_binary point cloud formats. If --key is wrong, available keys are listed in the error output.

Flag	Description
`--key <data_key>`	Required. Keyframe data key (e.g. `liso_factor/cloud`)
`-o <output.pcd>`	Required. Output PCD file path
`--voxel <size>`	Voxel downsample the merged cloud (meters)
`--skip <N>`	Use every Nth keyframe (default: 1)

`eidos graph <map_file>`

Print factor graph edges as CSV to stdout.

eidos graph /opt/watonomous/maps/wrestrc.map

Output columns: key_a, key_b, owner

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	eidos

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `eidos_tools` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

eidos_tools package from wato_monorepo repo

ackermann_pure_pursuit action_bringup behaviour_planning freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/watonomous/wato_monorepo.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-28
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CLI tool for inspecting and exporting eidos .map files

Maintainers

WATonomous

Authors

No additional authors.