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DangerousArea

Message type: map_manager/msg/DangerousArea

Description​

Defines a polygonal speed-restricted area and its maximum permitted velocity.

Fields​

FieldTypeDescription
idint32Unique identifier.
boundarygeometry_msgs/PolygonPolygon or point sequence defining the boundary.
speed_limitfloat32Maximum permitted speed in meters per second.

Examples​

Example 1​

Bash
# Add a square speed-restricted area with a 0.3 m/s limit
ros2 service call ${MM}/add_dangerous_area map_manager/srv/AddDangerousArea \
  "{floor_id: '1F',
    area: {
      id: 1,
      boundary: {
        points: [
          {x: 5.0, y: 5.0, z: 0.0},
          {x: 8.0, y: 5.0, z: 0.0},
          {x: 8.0, y: 8.0, z: 0.0},
          {x: 5.0, y: 8.0, z: 0.0}
        ]
      },
      speed_limit: 0.3
    }
  }"

Example 2​

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

area = DangerousArea()
area.id = 1
area.boundary = Polygon()
area.boundary.points = [
    Point32(x=5.0, y=5.0, z=0.0),
    Point32(x=8.0, y=5.0, z=0.0),
    Point32(x=8.0, y=8.0, z=0.0),
    Point32(x=5.0, y=8.0, z=0.0)
]
area.speed_limit = 0.3  # m/s