Common Messages used on ROS
// common_msgs/sensor_msgs
#include <geometry_msgs/Point.h>
/*
# This contains the position of a point in free space
float64 x
float64 y
float64 z
*/
#include <geometry_msgs/Quaternion.h>
/*
float64 x
float64 y
float64 z
float64 w
*/
#include <geometry_msgs/Pose.h>
/*
geometry_msgs::Point position
geometry_msgs::Quaternion orientation
*/
#include <geometry_msgs/PoseStamped.h>
/*
Header header
geometry_msgs::Pose pose
*/
#include <geometry_msgs/PoseWithCovariance.h>
/*
geometry_msgs::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
*/
#include <geometry_msgs/Vector3.h>
/*
float64 x
float64 y
float64 z
*/
#include <geometry_msgs/Twist.h>
/*
geometry_msgs::Vector3 linear
geometry_msgs::Vector3 angular
*/
#include <geometry_msgs/Accel.h>
/*
geometry_msgs::Vector3 linear
geometry_msgs::Vector3 angular
*/
#include <geometry_msgs/Transform.h>
/*
geometry_msgs::Vector3 translation
geometry_msgs::Quaternion rotation
*/
#include <geometry_msgs/TransformStamped.h>
/*
# This expresses a transform from coordinate frame header.frame_id to the coordinate frame child_frame_id
# This message is mostly used by the tf package.
# See its documentation for more information.
Header header
string child_frame_id # the frame id of the child frame
Transform transform
*/
#include <geometry_msgs/Inertia.h>
/*
# 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
*/
// common_msgs/nav_msgs
#include <nav_msgs/GridCells.h>
/*
#an array of cells in a 2D grid
Header header
float32 cell_width
float32 cell_height
geometry_msgs::Point[] cells
*/
#include <nav_msgs/OccupancyGrid.h>
/*
Header header
MapMetaData info
# The map data, in row-major order, starting with (0,0). Occupancy probabilities are in the range [0,100]. Unknown is -1.
int8[] data
*/
#include <nav_msgs/Odometry.h>
/*
Header header
string child_frame_id
geometry_msgs::PoseWithCovariance pose
geometry_msgs::TwistWithCovariance twist
*/
#include <nav_msgs/Path.h>
/*
Header header
geometry_msgs::PoseStamped[] poses
*/
// common_msgs/sensor_msgs
#include <sensor_msgs/Image.h>
/*
std_msgs::Header header
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
*/
#include <sensor_msgs/Imu.h>
/*
std_msgs::Header header
geometry_msgs::Quaternion orientation
float64[9] orientation_covariance
geometry_msgs::Vector3 angular_velocity
float64[9] angular_velocity_covariance
geometry_msgs::Vector3 linear_acceleration
float64[9] linear_acceleration_covariance
*/
#include <sensor_msgs/JointState.h>
/*
Header header
string[] name
float64[] position
float64[] velocity
float64[] effort
*/
#include <sensor_msgs/PointCloud.h>
/*
Header header
geometry_msgs::Point32[] points
# Each channel should have the same number of elements as points array,
# and the data in each channel should correspond 1:1 with each point.
# Channel names in common practice are listed in ChannelFloat32.msg.
ChannelFloat32[] channels
*/
#include <sensor_msgs/PointCloud2.h>
/*
Header header
# 2D structure of the point cloud. If the cloud is unordered, height is 1 and width is the length of the point cloud.
uint32 height
uint32 width
# Describes the channels and their layout in the binary data blob.
PointField[] fields
bool is_bigendian # Is this data bigendian?
uint32 point_step # Length of a point in bytes
uint32 row_step # Length of a row in bytes
uint8[] data # Actual point data, size is (row_step*height)
bool is_dense # True if there are no invalid points
*/
#include <sensor_msgs/LaserScan.h>
/*
# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data
Header header # timestamp in the header is the acquisition time of
# the first ray in the scan.
#
# in frame frame_id, angles are measured around
# the positive Z axis (counterclockwise, if Z is up)
# with zero angle being forward along the x axis
float32 angle_min # start angle of the scan [rad]
float32 angle_max # end angle of the scan [rad]
float32 angle_increment # angular distance between measurements [rad]
float32 time_increment # time between measurements [seconds] - if your scanner
# is moving, this will be used in interpolating position
# of 3d points
float32 scan_time # time between scans [seconds]
float32 range_min # minimum range value [m]
float32 range_max # maximum range value [m]
float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities # intensity data [device-specific units]. If your
# device does not provide intensities, please leave
# the array empty.
*/
// common_msgs/sensor_msgs
#include <geometry_msgs/Point.h>
/*
# This contains the position of a point in free space
float64 x
float64 y
float64 z
*/
#include <geometry_msgs/Quaternion.h>
/*
float64 x
float64 y
float64 z
float64 w
*/
#include <geometry_msgs/Pose.h>
/*
geometry_msgs::Point position
geometry_msgs::Quaternion orientation
*/
#include <geometry_msgs/PoseStamped.h>
/*
Header header
geometry_msgs::Pose pose
*/
#include <geometry_msgs/PoseWithCovariance.h>
/*
geometry_msgs::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
*/
#include <geometry_msgs/Vector3.h>
/*
float64 x
float64 y
float64 z
*/
#include <geometry_msgs/Twist.h>
/*
geometry_msgs::Vector3 linear
geometry_msgs::Vector3 angular
*/
#include <geometry_msgs/Accel.h>
/*
geometry_msgs::Vector3 linear
geometry_msgs::Vector3 angular
*/
#include <geometry_msgs/Transform.h>
/*
geometry_msgs::Vector3 translation
geometry_msgs::Quaternion rotation
*/
#include <geometry_msgs/TransformStamped.h>
/*
# This expresses a transform from coordinate frame header.frame_id to the coordinate frame child_frame_id
# This message is mostly used by the tf package.
# See its documentation for more information.
Header header
string child_frame_id # the frame id of the child frame
Transform transform
*/
#include <geometry_msgs/Inertia.h>
/*
# 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
*/
// common_msgs/nav_msgs
#include <nav_msgs/GridCells.h>
/*
#an array of cells in a 2D grid
Header header
float32 cell_width
float32 cell_height
geometry_msgs::Point[] cells
*/
#include <nav_msgs/OccupancyGrid.h>
/*
Header header
MapMetaData info
# The map data, in row-major order, starting with (0,0). Occupancy probabilities are in the range [0,100]. Unknown is -1.
int8[] data
*/
#include <nav_msgs/Odometry.h>
/*
Header header
string child_frame_id
geometry_msgs::PoseWithCovariance pose
geometry_msgs::TwistWithCovariance twist
*/
#include <nav_msgs/Path.h>
/*
Header header
geometry_msgs::PoseStamped[] poses
*/
// common_msgs/sensor_msgs
#include <sensor_msgs/Image.h>
/*
std_msgs::Header header
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
*/
#include <sensor_msgs/Imu.h>
/*
std_msgs::Header header
geometry_msgs::Quaternion orientation
float64[9] orientation_covariance
geometry_msgs::Vector3 angular_velocity
float64[9] angular_velocity_covariance
geometry_msgs::Vector3 linear_acceleration
float64[9] linear_acceleration_covariance
*/
#include <sensor_msgs/JointState.h>
/*
Header header
string[] name
float64[] position
float64[] velocity
float64[] effort
*/
#include <sensor_msgs/PointCloud.h>
/*
Header header
geometry_msgs::Point32[] points
# Each channel should have the same number of elements as points array,
# and the data in each channel should correspond 1:1 with each point.
# Channel names in common practice are listed in ChannelFloat32.msg.
ChannelFloat32[] channels
*/
#include <sensor_msgs/PointCloud2.h>
/*
Header header
# 2D structure of the point cloud. If the cloud is unordered, height is 1 and width is the length of the point cloud.
uint32 height
uint32 width
# Describes the channels and their layout in the binary data blob.
PointField[] fields
bool is_bigendian # Is this data bigendian?
uint32 point_step # Length of a point in bytes
uint32 row_step # Length of a row in bytes
uint8[] data # Actual point data, size is (row_step*height)
bool is_dense # True if there are no invalid points
*/
#include <sensor_msgs/LaserScan.h>
/*
# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data
Header header # timestamp in the header is the acquisition time of
# the first ray in the scan.
#
# in frame frame_id, angles are measured around
# the positive Z axis (counterclockwise, if Z is up)
# with zero angle being forward along the x axis
float32 angle_min # start angle of the scan [rad]
float32 angle_max # end angle of the scan [rad]
float32 angle_increment # angular distance between measurements [rad]
float32 time_increment # time between measurements [seconds] - if your scanner
# is moving, this will be used in interpolating position
# of 3d points
float32 scan_time # time between scans [seconds]
float32 range_min # minimum range value [m]
float32 range_max # maximum range value [m]
float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities # intensity data [device-specific units]. If your
# device does not provide intensities, please leave
# the array empty.
*/
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