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forbidden_area

Message type: map_manager/msg/ForbiddenArea

Description​

Forbidden-area definition. The robot must not enter this area.

GRW usage​

GRW manages forbidden areas for the current map through /forbidden/add, /forbidden/list, /forbidden/update, and /forbidden/remove. An area has a numeric id and a boundary: the boundary must contain exactly four vertices forming an axis-aligned rectangle; other shapes fail. A successful add returns numeric area_id, and updates use id to identify the target. floor_id in the related services is an IDL compatibility field and is ignored. Forbidden-area services do not automatically create or remove virtual walls.

Field definition​

Fields​

FieldTypeGRW behavior
idint32Numeric area identifier; returned by listing and used by update. Assigned by GRW on add.
boundarygeometry_msgs/PolygonArea boundary; points must be a four-vertex axis-aligned rectangle.

Example​

Use in a service​

Bash
ros2 service call /forbidden/add map_manager/srv/AddForbiddenArea \
  "{area: {boundary: {points: [{x: 0.0, y: 0.0}, {x: 2.0, y: 0.0}, {x: 2.0, y: 2.0}, {x: 0.0, y: 2.0}]}}}"

Construct in Python​

Python
from geometry_msgs.msg import Point32, Polygon
from map_manager.msg import ForbiddenArea

area = ForbiddenArea()
area.id = 1
area.boundary = Polygon()
area.boundary.points = [
    Point32(x=0.0, y=0.0, z=0.0),
    Point32(x=2.0, y=0.0, z=0.0),
    Point32(x=2.0, y=2.0, z=0.0),
    Point32(x=0.0, y=2.0, z=0.0),
]