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SemanticObject

消息类型: map_manager/msg/SemanticObject

描述​

语义对象定义，如桌子、椅子、门等带语义标签的对象

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"）
categorystring对象类别（如 "furniture", "equipment"）
posegeometry_msgs/Pose2D 位姿（x, y, theta）
dimensionsgeometry_msgs/Vector3对象尺寸（长×宽×高，米）
is_staticbool是否静态对象（不可移动）

使用示例​

在服务中使用​

Bash
# 添加办公桌对象
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
    }
  }"

Python 中构造​

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

相关接口​