SemanticObject
Message type: map_manager/msg/SemanticObject
Description
Defines a semantic object, including its pose, dimensions, category, and properties.
Fields
| Field | Type | Description |
|---|---|---|
id | string | Unique identifier. |
name | string | Human-readable name. |
type | string | Entity type. |
category | string | Semantic category. |
pose | geometry_msgs/Pose | Pose associated with this entity. |
dimensions | geometry_msgs/Vector3 | Object dimensions. |
is_static | bool | Whether the object is static. |
Examples
Example 1
Bash
# Add a desk object
ros2 service call ${MM}/add_semantic_object map_manager/srv/AddSemanticObject \
"{floor_id: '1F',
object: {
id: 'desk_001',
name: 'Office Desk',
type: 'desk',
category: 'furniture',
pose: {
position: {x: 2.0, y: 3.0, z: 0.0},
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
},
dimensions: {x: 1.4, y: 0.7, z: 0.75},
is_static: true
}
}"
Example 2
Python
from map_manager.msg import SemanticObject
from geometry_msgs.msg import Pose, Vector3
obj = SemanticObject()
obj.id = 'desk_001'
obj.name = 'Office Desk'
obj.type = 'desk'
obj.category = 'furniture'
obj.pose = Pose()
obj.pose.position.x = 2.0
obj.pose.position.y = 3.0
obj.pose.position.z = 0.0
obj.pose.orientation.w = 1.0
obj.dimensions = Vector3(x=1.4, y=0.7, z=0.75)
obj.is_static = True