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AddDangerousArea

服务类型: map_manager/srv/AddDangerousArea

服务名: ${MM}/add_dangerous_area

描述​

添加限速区（危险区域）到指定楼层。限速区是一个多边形区域，机器人在此区域内需要降低速度。 与禁区不同，限速区允许机器人通过，但会限制其最大速度。

请求 (Request)​

字段类型描述
floor_idstring楼层 ID（必需）
areamap_manager/msg/DangerousArea限速区数据（必须包含 id, boundary, speed_limit）

响应 (Response)​

字段类型描述
successbool操作是否成功
messagestring结果消息或错误信息
area_idint32添加的限速区 ID

使用示例​

命令行调用​

Bash
# 添加矩形限速区，限速 0.5 m/s
ros2 service call ${MM}/add_dangerous_area map_manager/srv/AddDangerousArea \
  "{floor_id: '1F', area: {id: 1, boundary: {points: [{x: 0.0, y: 0.0, z: 0.0}, {x: 3.0, y: 0.0, z: 0.0}, {x: 3.0, y: 3.0, z: 0.0}, {x: 0.0, y: 3.0, z: 0.0}]}, speed_limit: 0.5}}"

# 添加走廊限速区，限速 0.3 m/s
ros2 service call ${MM}/add_dangerous_area map_manager/srv/AddDangerousArea \
  "{floor_id: '1F', area: {id: 2, boundary: {points: [{x: 10.0, y: 0.0, z: 0.0}, {x: 15.0, y: 0.0, z: 0.0}, {x: 15.0, y: 2.0, z: 0.0}, {x: 10.0, y: 2.0, z: 0.0}]}, speed_limit: 0.3}}"

Python 示例​

Python
from map_manager.srv import AddDangerousArea
from map_manager.msg import DangerousArea
from geometry_msgs.msg import Polygon, Point32
import rclpy
from rclpy.node import Node

class DangerousAreaManager(Node):
    def __init__(self):
        super().__init__('dangerous_area_manager')
        self.client = self.create_client(
            AddDangerousArea, '/add_dangerous_area')
        self.client.wait_for_service()
        self.next_id = 1

    def add_area(self, floor_id: str, points: list, speed_limit: float,
                 area_id: int = None):
        if area_id is None:
            area_id = self.next_id
            self.next_id += 1

        polygon = Polygon(points=[
            Point32(x=float(p[0]), y=float(p[1]), z=0.0)
            for p in points
        ])

        request = AddDangerousArea.Request()
        request.floor_id = floor_id
        request.area = DangerousArea(
            id=area_id,
            boundary=polygon,
            speed_limit=speed_limit
        )

        future = self.client.call_async(request)
        rclpy.spin_until_future_complete(self, future)
        result = future.result()

        if result.success:
            print(f"限速区添加成功: ID={result.area_id}, 限速={speed_limit} m/s")
        else:
            print(f"添加失败: {result.message}")
        return result

    def add_rectangle(self, floor_id: str, x1: float, y1: float,
                      x2: float, y2: float, speed_limit: float,
                      area_id: int = None):
        """添加矩形限速区"""
        points = [(x1, y1), (x2, y1), (x2, y2), (x1, y2)]
        return self.add_area(floor_id, points, speed_limit, area_id)

rclpy.init()
manager = DangerousAreaManager()

# 添加矩形限速区（0.5 m/s）
manager.add_rectangle('1F', 0.0, 0.0, 3.0, 3.0, speed_limit=0.5)

# 添加自定义多边形限速区
manager.add_area('1F',
    [(5.0, 5.0), (8.0, 5.0), (8.0, 8.0), (5.0, 8.0)],
    speed_limit=0.3)

rclpy.shutdown()

C++ 示例​

C++
#include <rclcpp/rclcpp.hpp>
#include <map_manager/srv/add_dangerous_area.hpp>
#include <map_manager/msg/dangerous_area.hpp>

class DangerousAreaManager : public rclcpp::Node {
public:
    DangerousAreaManager() : Node("dangerous_area_manager"), next_id_(1) {
        client_ = create_client<map_manager::srv::AddDangerousArea>(
            "/add_dangerous_area");
        client_->wait_for_service();
    }

    bool add_rectangle(const std::string& floor_id,
                       double x1, double y1, double x2, double y2,
                       float speed_limit, int area_id = -1) {
        if (area_id < 0) area_id = next_id_++;

        auto request = std::make_shared<map_manager::srv::AddDangerousArea::Request>();
        request->floor_id = floor_id;
        request->area.id = area_id;
        request->area.speed_limit = speed_limit;

        geometry_msgs::msg::Point32 p1, p2, p3, p4;
        p1.x = x1; p1.y = y1; p1.z = 0;
        p2.x = x2; p2.y = y1; p2.z = 0;
        p3.x = x2; p3.y = y2; p3.z = 0;
        p4.x = x1; p4.y = y2; p4.z = 0;

        request->area.boundary.points = {p1, p2, p3, p4};

        auto future = client_->async_send_request(request);
        if (rclcpp::spin_until_future_complete(shared_from_this(), future) ==
            rclcpp::FutureReturnCode::SUCCESS) {
            auto result = future.get();
            RCLCPP_INFO(get_logger(), "限速区 %s: ID=%d, 限速=%.2f m/s",
                result->success ? "添加成功" : "添加失败",
                result->area_id, speed_limit);
            return result->success;
        }
        return false;
    }

private:
    rclcpp::Client<map_manager::srv::AddDangerousArea>::SharedPtr client_;
    int next_id_;
};

限速区与禁区对比​

特性禁区 (ForbiddenArea)限速区 (DangerousArea)
机器人可否进入不可以可以
Costmap 效果致命障碍物 (LETHAL)高代价（可通行）
速度限制N/A可配置
适用场景危险区域、禁止通行人员密集区、狭窄通道

推荐速度限制值​

场景推荐限速 (m/s)说明
人员密集区0.3安全优先
狭窄走廊0.5避免碰撞
门口区域0.4开门安全
坡道区域0.3防止失控
玻璃门前0.2传感器盲区

相关接口​