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ForbiddenArea

Message type: map_manager/msg/ForbiddenArea

Description​

Defines a polygonal keepout area that the robot must not enter.

Fields​

FieldTypeDescription
idint32Unique identifier.
boundarygeometry_msgs/PolygonPolygon or point sequence defining the boundary.

Examples​

Example 1​

Bash
# Add a square forbidden area
ros2 service call ${MM}/add_forbidden_area map_manager/srv/AddForbiddenArea \
  "{floor_id: '1F',
    area: {
      id: 1,
      boundary: {
        points: [
          {x: 0.0, y: 0.0, z: 0.0},
          {x: 2.0, y: 0.0, z: 0.0},
          {x: 2.0, y: 2.0, z: 0.0},
          {x: 0.0, y: 2.0, z: 0.0}
        ]
      }
    }
  }"

Example 2​

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

area = ForbiddenArea()
area.id = 1
area.boundary = Polygon()
area.boundary.points = [
    Point32(x=0.0, y=0.0, z=0.0),
    Point32(x=2.0, y=0.0, z=0.0),
    Point32(x=2.0, y=2.0, z=0.0),
    Point32(x=0.0, y=2.0, z=0.0)
]