常用消息 geometry_msgs/TransformStamped

常用消息 geometry_msgs/TransformStamped

1. geometry_msgs/TransformStamped （坐标转换消息）

Raw Message Definition

# 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

Compact Message Definition

std_msgs/Header header
string child_frame_id
geometry_msgs/Transform transform

1.1. Header

Raw Message Definition

# 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

Compact Message Definition

uint32 seq
time stamp
string frame_id

1.2. geometry_msgs/Transform

Raw Message Definition

# This represents the transform between two coordinate frames in free space.

Vector3 translation
Quaternion rotation

Compact Message Definition

geometry_msgs/Vector3 translation
geometry_msgs/Quaternion rotation

1.2.1 geometry_msgs/Vector3

Raw Message Definition

# 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

Compact Message Definition

float64 x
float64 y
float64 z

1.2.2 geometry_msgs/Quaternion

Raw Message Definition

# This represents an orientation in free space in quaternion form.
float64 x
float64 y
float64 z
float64 w

Compact Message Definition

float64 x
float64 y
float64 z
float64 w