跳到主要内容

ForbiddenArea

消息类型: map_manager/msg/ForbiddenArea

描述​

禁止区域定义，多边形区域，机器人不得进入

字段定义​

字段​

字段名类型描述
idint32过渡点唯一标识符
boundarygeometry_msgs/Polygon多边形边界（顶点列表）

使用示例​

在服务中使用​

Bash
# 添加禁区（正方形）
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}
        ]
      }
    }
  }"

Python 中构造​

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)
]

相关接口​