POI
Message type: map_manager/msg/POI
Description
Defines a point of interest and its pose on a floor.
Fields
| Field | Type | Description |
|---|---|---|
id | string | Unique identifier. |
name | string | Human-readable name. |
type | string | Entity type. |
floor_id | string | Unique floor identifier. |
pose | geometry_msgs/Pose2D | Pose associated with this entity. |
height | float64 | Height relative to the floor. |
properties | string | Extensible properties encoded as JSON. |
Examples
Example 1
Bash
# Add a charging-station POI
ros2 service call ${MM}/add_poi map_manager/srv/AddPOI \
"{poi: {
id: 'charging_1',
name: 'Charging Station 1',
type: 'charging_station',
floor_id: '1F',
pose: {x: 5.0, y: 3.0, theta: 1.57},
height: 0.0,
properties: '{\"voltage\": 24, \"current\": 10}'
}}"
Example 2
Python
from map_manager.msg import POI
from geometry_msgs.msg import Pose2D
import json
poi = POI()
poi.id = 'charging_1'
poi.name = 'Charging Station 1'
poi.type = 'charging_station'
poi.floor_id = '1F'
poi.pose = Pose2D(x=5.0, y=3.0, theta=1.57)
poi.height = 0.0
poi.properties = json.dumps({'voltage': 24, 'current': 10})