geometry_msgs::PointStamped

·geometry_msgs::PointStamped
File: geometry_msgs/PointStamped.msg
PointStamped代表了一个带有参考坐标系和时间戳的点。

# This represents a Point with reference coordinate frame and timestamp
Header header
Point point

·std_msgs/Header header
其中header由3部分组成，序列ID seq, 时间 stamp, 坐标系id frame_id。

# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id

·geometry_msgs/Point point
point为点的坐标，用64位float表示。

# This contains the position of a point in free space
float64 x
float64 y
float64 z

参考：
http://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/PointStamped.html