ROS学习笔记（20）-- geometry_msgs
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目录
geometry_msgs/AccelStamped Message. 1
File: geometry_msgs/AccelStamped.msg. 1
geometry_msgs/Accel Message. 1
File: geometry_msgs/Accel.msg. 1
geometry_msgs/AccelWithCovariance Message. 1
File: geometry_msgs/AccelWithCovariance.msg. 1
geometry_msgs/AccelWithCovarianceStamped Message. 2
File: geometry_msgs/AccelWithCovarianceStamped.msg. 2
geometry_msgs/Inertia Message. 2
File: geometry_msgs/Inertia.msg. 3
geometry_msgs/InertiaStamped Message. 3
File: geometry_msgs/InertiaStamped.msg. 3
geometry_msgs/Point Message. 4
File: geometry_msgs/Point.msg. 4
geometry_msgs/Point32 Message. 4
File: geometry_msgs/Point32.msg. 4
geometry_msgs/Point32 Message. 5
File: geometry_msgs/Point32.msg. 5
geometry_msgs/PointStamped Message. 6
File: geometry_msgs/PointStamped.msg. 6
geometry_msgs/Polygon Message. 6
File: geometry_msgs/Polygon.msg. 6
geometry_msgs/PolygonStamped Message. 7
File: geometry_msgs/PolygonStamped.msg. 7
File: geometry_msgs/Pose.msg. 7
geometry_msgs/Pose2D Message. 8
File: geometry_msgs/Pose2D.msg. 8
geometry_msgs/PoseArray Message. 9
File: geometry_msgs/PoseArray.msg. 9
geometry_msgs/PoseStamped Message. 9
File: geometry_msgs/PoseStamped.msg. 9
geometry_msgs/PoseWithCovariance Message. 10
File: geometry_msgs/PoseWithCovariance.msg. 10
Compact Message Definition. 10
geometry_msgs/PoseWithCovarianceStamped Message. 10
File: geometry_msgs/PoseWithCovarianceStamped.msg. 10
Compact Message Definition. 11
geometry_msgs/PoseWithCovarianceStamped Message. 11
File: geometry_msgs/PoseWithCovarianceStamped.msg. 11
Compact Message Definition. 11
geometry_msgs/Quaternion Message. 11
File: geometry_msgs/Quaternion.msg. 12
Compact Message Definition. 12
geometry_msgs/QuaternionStamped Message. 12
File: geometry_msgs/QuaternionStamped.msg. 12
Compact Message Definition. 12
geometry_msgs/Transform Message. 13
File: geometry_msgs/Transform.msg. 13
Compact Message Definition. 13
geometry_msgs/TransformStamped Message. 13
File: geometry_msgs/TransformStamped.msg. 13
Compact Message Definition. 14
geometry_msgs/Twist Message. 14
File: geometry_msgs/Twist.msg. 14
Compact Message Definition. 14
geometry_msgs/TwistStamped Message. 14
File: geometry_msgs/TwistStamped.msg. 14
Compact Message Definition. 15
geometry_msgs/TwistWithCovariance Message. 15
File: geometry_msgs/TwistWithCovariance.msg. 15
Compact Message Definition. 15
geometry_msgs/TwistWithCovarianceStamped Message. 15
File: geometry_msgs/TwistWithCovarianceStamped.msg. 16
Compact Message Definition. 16
geometry_msgs/Vector3 Message. 16
File: geometry_msgs/Vector3.msg. 16
Compact Message Definition. 16
geometry_msgs/Vector3Stamped Message. 17
File: geometry_msgs/Vector3Stamped.msg. 17
Compact Message Definition. 17
geometry_msgs/Wrench Message. 17
File: geometry_msgs/Wrench.msg. 17
Compact Message Definition. 17
geometry_msgs/WrenchStamped Message. 18
File: geometry_msgs/WrenchStamped.msg. 18
Compact Message Definition. 18
geometry_msgs/AccelStamped Message
File: geometry_msgs/AccelStamped.msg
# An accel with reference coordinate frame and timestamp
Header header
Accel accel
std_msgs/Header header
geometry_msgs/Accel accel
geometry_msgs/Accel Message
# This expresses acceleration in free space broken into its linear and angular parts.
Vector3 linear
Vector3 angular
geometry_msgs/Vector3 linear
geometry_msgs/Vector3 angular
geometry_msgs/AccelWithCovariance Message
File: geometry_msgs/AccelWithCovariance.msg
# This expresses acceleration in free space with uncertainty.
Accel accel
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
geometry_msgs/Accel accel
float64[36] covariance
geometry_msgs/AccelWithCovarianceStamped Message
File: geometry_msgs/AccelWithCovarianceStamped.msg
# This represents an estimated accel with reference coordinate frame and timestamp.
Header header
AccelWithCovariance accel
std_msgs/Header header
geometry_msgs/AccelWithCovariance accel
geometry_msgs/Inertia Message
File: geometry_msgs/Inertia.msg
# Mass [kg]
float64 m
# Center of mass [m]
geometry_msgs/Vector3 com
# Inertia Tensor [kg-m^2]
# | ixx ixy ixz |
# I = | ixy iyy iyz |
# | ixz iyz izz |
float64 ixx
float64 ixy
float64 ixz
float64 iyy
float64 iyz
float64 izz
float64 m
geometry_msgs/Vector3 com
float64 ixx
float64 ixy
float64 ixz
float64 iyy
float64 iyz
float64 izz
geometry_msgs/InertiaStamped Message
File: geometry_msgs/InertiaStamped.msg
Header header
Inertia inertia
std_msgs/Header header
geometry_msgs/Inertia inertia
geometry_msgs/Point Message
# This contains the position of a point in free space
float64 x
float64 y
float64 z
float64 x
float64 y
float64 z
geometry_msgs/Point32 Message
File: geometry_msgs/Point32.msg
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.
#
# This recommendation is to promote interoperability.
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.
float32 x
float32 y
float32 z
float32 x
float32 y
float32 z
geometry_msgs/Point32 Message
File: geometry_msgs/Point32.msg
# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.
#
# This recommendation is to promote interoperability.
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.
float32 x
float32 y
float32 z
float32 x
float32 y
float32 z
geometry_msgs/PointStamped Message
File: geometry_msgs/PointStamped.msg
# This represents a Point with reference coordinate frame and timestamp
Header header
Point point
std_msgs/Header header
geometry_msgs/Point point
geometry_msgs/Polygon Message
File: geometry_msgs/Polygon.msg
#A specification of a polygon where the first and last points are assumed to be connected
Point32[] points
geometry_msgs/Point32[] points
geometry_msgs/PolygonStamped Message
File: geometry_msgs/PolygonStamped.msg
# This represents a Polygon with reference coordinate frame and timestamp
Header header
Polygon polygon
std_msgs/Header header
geometry_msgs/Polygon polygon
geometry_msgs/Pose Message
# A representation of pose in free space, composed of position and orientation.
Point position
Quaternion orientation
geometry_msgs/Point position
geometry_msgs/Quaternion orientation
geometry_msgs/Pose2D Message
File: geometry_msgs/Pose2D.msg
# Deprecated
# Please use the full 3D pose.
# In general our recommendation is to use a full 3D representation of everything and for 2D specific applications make the appropriate projections into the plane for their calculations but optimally will preserve the 3D information during processing.
# If we have parallel copies of 2D datatypes every UI and other pipeline will end up needing to have dual interfaces to plot everything. And you will end up with not being able to use 3D tools for 2D use cases even if they're completely valid, as you'd have to reimplement it with different inputs and outputs. It's not particularly hard to plot the 2D pose or compute the yaw error for the Pose message and there are already tools and libraries that can do this for you.
# This expresses a position and orientation on a 2D manifold.
float64 x
float64 y
float64 theta
float64 x
float64 y
float64 theta
geometry_msgs/PoseArray Message
File: geometry_msgs/PoseArray.msg
# An array of poses with a header for global reference.
Header header
Pose[] poses
std_msgs/Header header
geometry_msgs/Pose[] poses
geometry_msgs/PoseStamped Message
File: geometry_msgs/PoseStamped.msg
# A Pose with reference coordinate frame and timestamp
Header header
Pose pose
std_msgs/Header header
geometry_msgs/Pose pose
geometry_msgs/PoseWithCovariance Message
File: geometry_msgs/PoseWithCovariance.msg
# This represents a pose in free space with uncertainty.
Pose pose
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
geometry_msgs/Pose pose
float64[36] covariance
geometry_msgs/PoseWithCovarianceStamped Message
File: geometry_msgs/PoseWithCovarianceStamped.msg
# This expresses an estimated pose with a reference coordinate frame and timestamp
Header header
PoseWithCovariance pose
std_msgs/Header header
geometry_msgs/PoseWithCovariance pose
geometry_msgs/PoseWithCovarianceStamped Message
File: geometry_msgs/PoseWithCovarianceStamped.msg
# This expresses an estimated pose with a reference coordinate frame and timestamp
Header header
PoseWithCovariance pose
std_msgs/Header header
geometry_msgs/PoseWithCovariance pose
geometry_msgs/Quaternion Message
File: geometry_msgs/Quaternion.msg
# This represents an orientation in free space in quaternion form.
float64 x
float64 y
float64 z
float64 w
float64 x
float64 y
float64 z
float64 w
geometry_msgs/QuaternionStamped Message
File: geometry_msgs/QuaternionStamped.msg
# This represents an orientation with reference coordinate frame and timestamp.
Header header
Quaternion quaternion
std_msgs/Header header
geometry_msgs/Quaternion quaternion
geometry_msgs/Transform Message
File: geometry_msgs/Transform.msg
# This represents the transform between two coordinate frames in free space.
Vector3 translation
Quaternion rotation
geometry_msgs/Vector3 translation
geometry_msgs/Quaternion rotation
geometry_msgs/TransformStamped Message
File: geometry_msgs/TransformStamped.msg
# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
#
# This message is mostly used by the
# <a href="http: wiki.ros.org="" tf"="">tf package. </a href="http:>
# See its documentation for more information.
Header header
string child_frame_id # the frame id of the child frame
Transform transform
std_msgs/Header header
string child_frame_id
geometry_msgs/Transform transform
geometry_msgs/Twist Message
# This expresses velocity in free space broken into its linear and angular parts.
Vector3 linear
Vector3 angular
geometry_msgs/Vector3 linear
geometry_msgs/Vector3 angular
geometry_msgs/TwistStamped Message
File: geometry_msgs/TwistStamped.msg
# A twist with reference coordinate frame and timestamp
Header header
Twist twist
std_msgs/Header header
geometry_msgs/Twist twist
geometry_msgs/TwistWithCovariance Message
File: geometry_msgs/TwistWithCovariance.msg
# This expresses velocity in free space with uncertainty.
Twist twist
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
geometry_msgs/Twist twist
float64[36] covariance
geometry_msgs/TwistWithCovarianceStamped Message
File: geometry_msgs/TwistWithCovarianceStamped.msg
# This represents an estimated twist with reference coordinate frame and timestamp.
Header header
TwistWithCovariance twist
std_msgs/Header header
geometry_msgs/TwistWithCovariance twist
geometry_msgs/Vector3 Message
File: geometry_msgs/Vector3.msg
# This represents a vector in free space.
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.
float64 x
float64 y
float64 z
float64 x
float64 y
float64 z
geometry_msgs/Vector3Stamped Message
File: geometry_msgs/Vector3Stamped.msg
# This represents a Vector3 with reference coordinate frame and timestamp
Header header
Vector3 vector