BaseEventInfo

Message type: fourier_msgs/msg/BaseEventInfo

Description

Describes one navigation event, including its type, message, source component, and timestamp.

Fields

Field	Type	Description
event_type	string	Event type identifier.
message	string	Human-readable event description.
source	string	Component that emitted the event.
timestamp	int64	Event timestamp.

Event Types

Constant	Event Type	Description	Source	Announcement Frequency
SystemEventMapLoopClosure	map_loop_closure	A map loop closure was detected.	slam	Once
SystemEventObstacleBlocked	obstacle_blocked	The path is blocked by an obstacle.	collision_monitor	Once
SystemEventNearObstacle	near_obstacle	A nearby obstacle was detected.	collision_monitor	Every second
SystemEventNearObstacleWhenStationary	near_obstacle_when_stationary	A nearby obstacle was detected while the robot was stationary.	collision_monitor	Every second
SystemEventOutOfMap	out_of_map	The robot left the map boundary or entered an unknown area.	monitor	Every 5 seconds
SystemEventEnterForbiddenArea	enter_forbidden_area	The robot entered a forbidden area.	monitor	Every 5 seconds
SystemEventEnterDangerousArea	enter_dangerous_area	The robot entered a speed-restricted area.	monitor	Every 5 seconds
SystemEventLeaveForbiddenArea	leave_forbidden_area	The robot left a forbidden area.	monitor	Once per transition
SystemEventLeaveDangerousArea	leave_dangerous_area	The robot left a speed-restricted area.	monitor	Once per transition
SystemEventGoalInForbiddenArea	goal_in_forbidden_area	The navigation goal is inside a forbidden area, so navigation is rejected.	navigation	Once
SystemEventNavigationRecoveryStarted	navigation_recovery_started	The robot entered recovery mode.	navigation	Once

Trigger Behavior

• enter_forbidden_area and enter_dangerous_area are emitted every 5 seconds while the robot remains inside the corresponding area.
• leave_forbidden_area and leave_dangerous_area are emitted once when the robot transitions from inside to outside the area.
• Area entry and exit detection is active in both localization and mapping modes. Localization mode additionally requires odom_status_code == GOOD.
• Event messages include the area ID, the speed limit for speed-restricted areas, and the robot position.
• goal_in_forbidden_area is checked while validating a navigate_to_pose goal. Navigation fails immediately when the goal lies inside any forbidden-area polygon.
• goal_in_forbidden_area validates the requested goal when navigation starts; enter_forbidden_area monitors the robot's current position while navigation is running.

goal_in_forbidden_area Trigger Path

Text

navigate_to_pose BT
  -> GoalNotInForbiddenArea (tick)
       -> map_manager: get_current_floor
       -> map_manager: list_forbidden_areas
       -> Goal is inside a forbidden area
          -> EventProvider("navigation")
          -> Humanoid_nav/component_events
          -> events_node aggregation
          -> /Humanoid_nav/events

If a map_manager service is unavailable or times out, the condition node conservatively returns SUCCESS and does not block navigation. The event is not published in that case.

Related Messages

• EventsInfo