PolygonObject Message

Package: nav2_msgs
Category: Other Messages

Nav2 message for robotic navigation and behavior control

Message Definition

Field Type Description
header std_msgs/Header Standard ROS header with timestamp and frame information
uuid unique_identifier_msgs/UUID Message field - see Nav2 documentation for specific usage details
points geometry_msgs/Point32[] Array of geometry_msgs/Point32 values
closed bool Boolean true/false value
value int8 Message field - see Nav2 documentation for specific usage details

Usage Examples

Python

import rclpy
from rclpy.node import Node
from nav2_msgs.msg import PolygonObject

class PolygonObjectPublisher(Node):
    def __init__(self):
        super().__init__('polygonobject_publisher')
        self.publisher = self.create_publisher(PolygonObject, 'polygonobject', 10)
        
    def publish_message(self):
        msg = PolygonObject()
        msg.header.frame_id = 'map'
        msg.header.stamp = self.get_clock().now().to_msg()
        # Set msg.uuid as needed
        msg.points = []  # Fill array as needed
        msg.closed = True
        # Set msg.value as needed
        self.publisher.publish(msg)

C++

#include "rclcpp/rclcpp.hpp"
#include "nav2_msgs/msg/polygon_object.hpp"

class PolygonObjectPublisher : public rclcpp::Node
{
public:
    PolygonObjectPublisher() : Node("polygonobject_publisher")
    {
        publisher_ = create_publisher<nav2_msgs::msg::PolygonObject>("polygonobject", 10);
    }

    void publish_message()
    {
        auto msg = nav2_msgs::msg::PolygonObject();
        msg.header.frame_id = "map";
        msg.header.stamp = this->now();
        // Set msg.uuid as needed
        // Fill msg.points array as needed
        msg.closed = true;
        // Set msg.value as needed
        publisher_->publish(msg);
    }

private:
    rclcpp::Publisher<nav2_msgs::msg::PolygonObject>::SharedPtr publisher_;
};