virtual_wall
Message type: map_manager/msg/VirtualWall
Description
Virtual-wall definition for adding an impassable virtual obstacle to a map.
GRW usage
GRW manages virtual walls for the current map through /wall/add, /wall/list, /wall/update, and /wall/remove. A successful add returns a numeric wall_id; list results and update requests identify the wall by numeric id. The wall geometry is defined by the x and y values of start and end.
Field definition
Fields
| Field | Type | GRW behavior |
|---|---|---|
| id | int32 | Numeric wall identifier; returned by listing and used by update. Assigned by GRW on add. |
| start | geometry_msgs/Point | Start point; GRW uses x and y. |
| end | geometry_msgs/Point | End point; GRW uses x and y. |
| floor_id | string | IDL compatibility field; ignored. |
Example
Use in a service
Bash
ros2 service call /wall/add map_manager/srv/AddVirtualWall \
"{wall: {start: {x: 0.0, y: 5.0}, end: {x: 10.0, y: 5.0}}}"
Construct in Python
Python
from geometry_msgs.msg import Point
from map_manager.msg import VirtualWall
wall = VirtualWall()
wall.id = 1
wall.start = Point(x=0.0, y=0.0, z=0.0)
wall.end = Point(x=5.0, y=0.0, z=0.0)
Related services
- AddVirtualWall - Adds a virtual wall
- ListVirtualWalls - Lists virtual walls
- UpdateVirtualWall - Updates a virtual wall
- RemoveVirtualWall - Removes a virtual wall