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SwitchFloor

服务类型: map_manager/srv/SwitchFloor

服务名: ${MM}/switch_floor

描述​

切换到指定楼层。支持直接切换和通过过渡点（电梯、楼梯等）切换两种方式。 切换楼层时会自动通知建图定位模块加载对应楼层的定位地图。

请求 (Request)​

字段类型描述
floor_idstring目标楼层 ID
initial_posegeometry_msgs/Pose2D切换后的初始位姿 (x, y, theta)
use_transitionbool是否使用过渡点切换
transition_idstring过渡点 ID（use_transition=true 时必填）

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
current_floormap_manager/msg/Floor切换后的当前楼层信息

使用示例​

命令行调用​

Bash
# 直接切换楼层
ros2 service call ${MM}/switch_floor map_manager/srv/SwitchFloor \
  "{floor_id: '2F', initial_pose: {x: 0.0, y: 0.0, theta: 0.0}, use_transition: false}"

# 使用电梯过渡点切换
ros2 service call ${MM}/switch_floor map_manager/srv/SwitchFloor \
  "{floor_id: '2F', use_transition: true, transition_id: 'elevator_1'}"

Python 示例​

Python
from map_manager.srv import SwitchFloor
from geometry_msgs.msg import Pose2D
import rclpy
from rclpy.node import Node

class FloorSwitcher(Node):
    def __init__(self):
        super().__init__('floor_switcher')
        self.client = self.create_client(SwitchFloor, '/switch_floor')
        self.client.wait_for_service()

    def switch_direct(self, floor_id: str, x: float = 0.0, y: float = 0.0, theta: float = 0.0):
        """直接切换楼层"""
        request = SwitchFloor.Request()
        request.floor_id = floor_id
        request.initial_pose = Pose2D(x=x, y=y, theta=theta)
        request.use_transition = False

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

        if result.success:
            print(f"切换成功: {result.current_floor.name}")
        else:
            print(f"切换失败: {result.message}")
        return result

    def switch_via_transition(self, floor_id: str, transition_id: str):
        """通过过渡点切换楼层"""
        request = SwitchFloor.Request()
        request.floor_id = floor_id
        request.use_transition = True
        request.transition_id = transition_id

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

rclpy.init()
switcher = FloorSwitcher()

# 直接切换到 2F
switcher.switch_direct('2F', x=5.0, y=3.0, theta=1.57)

# 使用电梯切换
switcher.switch_via_transition('3F', 'elevator_main')

rclpy.shutdown()

C++ 示例​

C++
#include <rclcpp/rclcpp.hpp>
#include <map_manager/srv/switch_floor.hpp>
#include <geometry_msgs/msg/pose2_d.hpp>

class FloorSwitcher : public rclcpp::Node {
public:
    FloorSwitcher() : Node("floor_switcher") {
        client_ = create_client<map_manager::srv::SwitchFloor>(
            "/switch_floor");
        client_->wait_for_service();
    }

    bool switch_direct(const std::string& floor_id,
                       double x = 0.0, double y = 0.0, double theta = 0.0) {
        auto request = std::make_shared<map_manager::srv::SwitchFloor::Request>();
        request->floor_id = floor_id;
        request->initial_pose.x = x;
        request->initial_pose.y = y;
        request->initial_pose.theta = theta;
        request->use_transition = false;

        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(), "切换%s: %s",
                result->success ? "成功" : "失败", result->message.c_str());
            return result->success;
        }
        return false;
    }

private:
    rclcpp::Client<map_manager::srv::SwitchFloor>::SharedPtr client_;
};

楼层切换流程​

  1. 验证目标楼层存在
  2. 如果使用过渡点：验证过渡点有效且可用
  3. 通知建图定位模块 加载目标楼层的定位地图
  4. 更新当前楼层状态
  5. 发布楼层切换事件

注意事项​

  • 切换楼层前确保目标楼层已加载
  • 使用过渡点切换时，机器人应位于过渡点附近
  • 切换成功后需要重新定位或使用过渡点提供的目标位姿

相关接口​