adding IDs to geometry_msgs/Polygon, PolygonStamped (backport #232)#277
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adding IDs to geometry_msgs/Polygon, PolygonStamped (backport #232)#277
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* adding PolygonInstance msgs Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Michael Carroll <carroll.michael@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit 104e644)
fujitatomoya
approved these changes
Apr 11, 2025
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Pulls: #277
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ahcorde
approved these changes
Apr 11, 2025
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Implementing #230
Polygons are often used to represent specific objects (e.g. robot footprints, obstacles in the scene, other agents) but are difficult to rectify currently without any kind of specific identification - especially when you have
Nof the same object resulting in several identical object instances.This PR adds an ID field analog to
visualization_msgs/Markerto disambiguate polygons for use in thenav2_collision_monitorand throughout futureCostmap2Dplanned work. I strongly believe this is a good addition worth the change to a standard interface with both minimal overhead & not breaking any current users' behavior.This is an automatic backport of pull request #232 done by Mergify.