Landmark Server

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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 `landmark_server` at Robotics Stack Exchange

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

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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 `landmark_server` at Robotics Stack Exchange

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

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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 `landmark_server` at Robotics Stack Exchange

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

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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 `landmark_server` at Robotics Stack Exchange

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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 `landmark_server` at Robotics Stack Exchange

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

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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 `landmark_server` at Robotics Stack Exchange

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

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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 `landmark_server` at Robotics Stack Exchange

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

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

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github

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Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.

Landmark Server

The Landmark Server maintains a probabilistic map of detected landmarks using an IPDA filter. It exposes two action interfaces to mission planners: one for polling until a landmark is found, and one for converging the AUV onto a landmark.

Interfaces

Interface	Type
`LandmarkPolling`	Action server
`LandmarkConvergence`	Action server

LandmarkPolling

Waits until a confirmed track matching the requested type and subtype is found, then returns the result.

Field	Type	Description
`type`	`LandmarkType`	Landmark class to search for
`subtype`	`LandmarkSubtype`	Landmark subtype to search for

Result	Type	Description
`landmarks`	`LandmarkArray`	All confirmed tracks matching the requested type/subtype

ros2 action send_goal /orca/landmark_polling vortex_msgs/action/LandmarkPolling "{
  type: {value: 2},
  subtype: {value: 1}
}"

LandmarkConvergence

Drives the AUV towards a landmark. Succeeds when the AUV has converged onto the landmark.

Goal Field	Type	Description
`type`	`LandmarkType`	Landmark class to converge towards
`subtype`	`LandmarkSubtype`	Landmark subtype to converge towards
`convergence_offset`	`geometry_msgs/Pose`	Offset from the landmark pose
`convergence_threshold`	`float64`	Distance (m) to declare convergence
`dead_reckoning_threshold`	`float64`	Distance (m) at which target updates stop
`track_loss_timeout_sec`	`float64`	Seconds to wait for landmark to reappear before aborting.

Result Field	Type	Description
`success`	`bool`	Whether the AUV successfully converged
`landmark_valid`	`bool`	Whether a last-known landmark track exists
`landmark`	`Landmark`	Last known pose and covariance of the landmark

ros2 action send_goal /orca/landmark_convergence vortex_msgs/action/LandmarkConvergence "{
  type: {value: 2},
  subtype: {value: 1},
  convergence_offset: {
    position: {x: 0.0, y: 0.0, z: 0.0},
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  },
  convergence_threshold: 0.3,
  dead_reckoning_threshold: 1.0,
  track_loss_timeout_sec: 10.0
}"

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rclcpp
	rclcpp_components
	geometry_msgs
	nav_msgs
	vortex_msgs
	vortex_utils
	pose_filtering
	vortex_utils_ros_tf
	vortex_utils_ros
	auv_setup
	tf2_geometry_msgs

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.

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

landmark_server package from vortex-auv repo

auv_setup dp_adapt_backs_controller pid_controller_dp pid_controller_dp_euler velocity_controller_lqr ekf_pose_filtering pose_action_server pose_filtering los_guidance reference_filter_dp docking joystick_interface_auv keyboard_joy landmark_server operation_mode_manager waypoint_manager thrust_allocator_auv thruster_interface_auv

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/vortexntnu/vortex-auv.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-09
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Landmark server for mission planning (skeleton)

Maintainers

Jorgen Fjermedal

Authors

No additional authors.