Floor
Message type: map_manager/msg/Floor
Description
Defines a floor, its height range, coordinate origin, map path, and status.
Constants
| Name | Type | Value | Description |
|---|---|---|---|
STATUS_UNKNOWN | uint8 | 0 | Unknown state. |
STATUS_ACTIVE | uint8 | 1 | Active state. |
STATUS_INACTIVE | uint8 | 2 | Inactive state. |
Fields
| Field | Type | Description |
|---|---|---|
floor_id | string | Unique floor identifier. |
name | string | Human-readable name. |
level | int32 | Numeric floor level. |
min_height | float64 | Minimum floor height in meters. |
max_height | float64 | Maximum floor height in meters. |
reference_height | float64 | Reference height used for vertical alignment. |
origin_offset | geometry_msgs/Pose | Offset from the global origin to the floor origin. |
map_path | string | Path to the map data. |
status | uint8 | Current status code. |
Examples
Example 1
Bash
# Use the Floor message when adding a floor
ros2 service call ${MM}/add_floor map_manager/srv/AddFloor \
"{floor: {
floor_id: '1F',
name: 'First Floor',
level: 1,
min_height: 0.0,
max_height: 3.0,
reference_height: 0.0,
status: 1
}}"
Example 2
Python
from map_manager.msg import Floor
from geometry_msgs.msg import Pose
floor = Floor()
floor.floor_id = '1F'
floor.name = 'First Floor'
floor.level = 1
floor.min_height = 0.0
floor.max_height = 3.0
floor.reference_height = 0.0
floor.status = Floor.STATUS_ACTIVE
floor.origin_offset = Pose() # Default origin