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Room

消息类型: map_manager/msg/Room

描述​

房间定义，包含边界、高度和语义信息

字段定义​

字段​

字段名类型描述
idstring过渡点唯一标识符
namestring楼层可读名称
typestringPOI 类型（如 "charging_station", "waiting_point", "door"）
boundarygeometry_msgs/Point[]多边形边界（顶点列表）
floor_heightfloat64房间地板高度（米）
ceiling_heightfloat64房间天花板高度（米）
connected_roomsstring[]连接的房间 ID 列表
objectsstring[]房间内的对象 ID 列表

使用示例​

在服务中使用​

Bash
# 添加办公室房间
ros2 service call ${MM}/add_room map_manager/srv/AddRoom \
  "{floor_id: '1F',
    room: {
      id: 'room_101',
      name: 'Office 101',
      type: 'office',
      boundary: [
        {x: 0.0, y: 0.0, z: 0.0},
        {x: 5.0, y: 0.0, z: 0.0},
        {x: 5.0, y: 4.0, z: 0.0},
        {x: 0.0, y: 4.0, z: 0.0}
      ],
      floor_height: 0.0,
      ceiling_height: 2.8,
      connected_rooms: ['room_102', 'hallway_1'],
      objects: ['desk_001', 'chair_001']
    }
  }"

Python 中构造​

Python
from map_manager.msg import Room
from geometry_msgs.msg import Point

room = Room()
room.id = 'room_101'
room.name = 'Office 101'
room.type = 'office'
room.boundary = [
    Point(x=0.0, y=0.0, z=0.0),
    Point(x=5.0, y=0.0, z=0.0),
    Point(x=5.0, y=4.0, z=0.0),
    Point(x=0.0, y=4.0, z=0.0)
]
room.floor_height = 0.0
room.ceiling_height = 2.8
room.connected_rooms = ['room_102', 'hallway_1']
room.objects = ['desk_001', 'chair_001']

相关接口​