add_virtual_wall

Service type: map_manager/srv/AddVirtualWall

Service name: /wall/add

Description

Adds a virtual wall defined by its start and end points. GRW ignores request floor_id and wall.floor_id, assigns a numeric ID, and returns it as wall_id for later update or removal.

Request (Request)

Field	Type	Description
floor_id	string	IDL compatibility field; ignored.
wall	map_manager/msg/VirtualWall	Uses x and y from start and end.

Response (Response)

Field	Type	Description
success	bool	Whether the operation succeeded.
message	string	Result message.
wall_id	int32	Numeric ID assigned on success.

Example

Complete Environment Preparation first: the CLI examples require ROBOT_NAMESPACE to be set; the Python and C++ examples use relative service names, so append --ros-args -r __ns:=$ROBOT_NAMESPACE when running them.

CLI call

Bash

ros2 service call $ROBOT_NAMESPACE/wall/add map_manager/srv/AddVirtualWall \
  "{wall: {start: {x: 0.0, y: 5.0}, end: {x: 10.0, y: 5.0}}}"

Python example

Python

import rclpy
from geometry_msgs.msg import Point
from map_manager.msg import VirtualWall
from map_manager.srv import AddVirtualWall

rclpy.init()
node = rclpy.create_node('add_virtual_wall_client')
client = node.create_client(AddVirtualWall, 'wall/add')
client.wait_for_service()

request = AddVirtualWall.Request()
request.wall = VirtualWall(start=Point(x=0.0, y=5.0),
                           end=Point(x=10.0, y=5.0))
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
print(future.result().success, future.result().wall_id)
node.destroy_node()
rclpy.shutdown()

C++ example

C++

#include <rclcpp/rclcpp.hpp>
#include <map_manager/srv/add_virtual_wall.hpp>

int main(int argc, char* argv[]) {
  rclcpp::init(argc, argv);
  auto node = std::make_shared<rclcpp::Node>("add_virtual_wall_client");
  auto client = node->create_client<map_manager::srv::AddVirtualWall>("wall/add");
  client->wait_for_service();
  auto request = std::make_shared<map_manager::srv::AddVirtualWall::Request>();
  request->wall.start.x = 0.0;
  request->wall.start.y = 5.0;
  request->wall.end.x = 10.0;
  request->wall.end.y = 5.0;
  auto future = client->async_send_request(request);
  rclcpp::spin_until_future_complete(node, future);
  RCLCPP_INFO(node->get_logger(), "wall_id=%d", future.get()->wall_id);
  rclcpp::shutdown();
}

Related services: ListVirtualWalls, UpdateVirtualWall, RemoveVirtualWall.