ROS常用消息之Odometry

链接: nav_msgs/Odometry Message

文件位置

链接: File: nav_msgs/Odometry.msg

Raw Message Definition

# This represents an estimate of a position and velocity in free space.  
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist

Compact Message Definition

std_msgs/Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist

字段解析

• child_frame_id
  机器人底盘坐标系的名称
• pose
  位姿信息（geometry_msgs/Pose pose），通常包括位置（position）和方向（orientation）

# A representation of pose in free space, composed of position and orientation. 
Point position
Quaternion orientation

• twist
  线速度和角速度信息（geometry_msgs/Twist twist），用于表示机器人的运动状态

# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular