poi
Message type: map_manager/msg/POI
Description
Point-of-interest definition, for example a charging station or waiting point.
GRW usage
GRW manages POIs for the current map through /poi/add, /poi/list, and /poi/remove. Adding a POI reads id, name, and the two-dimensional pose; listing guarantees only these fields. id is the string identifier used for lookup and removal.
Field definition
Fields
| Field | Type | GRW behavior |
|---|---|---|
| id | string | POI string identifier used when adding, listing, and removing. |
| name | string | POI name, used when adding and listing. |
| pose | geometry_msgs/Pose2D | Two-dimensional pose; uses x, y, and theta. |
| type | string | IDL compatibility field; not read and has no returned semantics. |
| floor_id | string | IDL compatibility field; not read and not used for floor filtering. |
| height | float64 | IDL compatibility field; not read. |
| properties | string | IDL compatibility field; not read. |
Example
Use in a service
Bash
ros2 service call /poi/add map_manager/srv/AddPOI \
"{poi: {id: 'gr_charger_01', name: 'Main Charger', pose: {x: 5.0, y: 3.0, theta: 1.57}}}"
Construct in Python
Python
from geometry_msgs.msg import Pose2D
from map_manager.msg import POI
poi = POI()
poi.id = 'gr_charger_01'
poi.name = 'Main Charger'
poi.pose = Pose2D(x=5.0, y=3.0, theta=1.57)