ROS中常用的数据类型(其实不用记,只需要查一下rosmsg命令即可)
- 更新(!!!)
- 1.geometry_msgs::Point
- 2.geometry_msgs::Point32
- 3.geometry_msgs::PointStamped
- 4.geometry_msgs::Pose
- 5.geometry_msgs::Pose2D
- 6.geometry_msgs::PoseArray
- 7.geometry_msgs::PoseStamped
- 8.geometry_msgs::PoseWithCovariance
- 9.geometry_msgs::PoseWithCovarianceStamped
- 10.geometry_msgs::Quaternion
- 11.geometry_msgs::QuaternionStamped
- 12.geometry_msgs::Transform
- 13.geometry_msgs::TransformStamped
- 14.nav_msgs::Odometry
更新(!!!)
不用记,只需在终端执行rosmsg命令即可::
rosmsg show geometry_msgs::Point
最近用这些数据类型总是会忘,写记录方便查询
1.geometry_msgs::Point
float64 x
float64 y
float64 z
2.geometry_msgs::Point32
float32 x
float32 y
float32 z
3.geometry_msgs::PointStamped
Header header
uint32 seq
time stamp
string frame_id
Point point
float64 x
float64 y
float64 z
4.geometry_msgs::Pose
Point position
float64 x
float64 y
float64 z
Quaternion orientation
float64 x
float64 y
float64 z
float64 w
5.geometry_msgs::Pose2D
float64 x
float64 y
float64 theta
6.geometry_msgs::PoseArray
Header header
uint32 seq
time stamp
string frame_id
Pose[] poses
Point position
float64 x
float64 y
float64 z
Quaternion orientation
float64 x
float64 y
float64 z
float64 w
7.geometry_msgs::PoseStamped
Header header
uint32 seq
time stamp
string frame_id
Pose pose
Point position
float64 x
float64 y
float64 z
Quaternion orientation
float64 x
float64 y
float64 z
float64 w
8.geometry_msgs::PoseWithCovariance
# This represents a pose in free space with uncertainty.
Pose pose
Point position
float64 x
float64 y
float64 z
Quaternion orientation
float64 x
float64 y
float64 z
float64 w
float64[36] covariance
9.geometry_msgs::PoseWithCovarianceStamped
Header header
uint32 seq
time stamp
string frame_id
PoseWithCovariance pose
Pose pose
Point position
float64 x
float64 y
float64 z
Quaternion orientation
float64 x
float64 y
float64 z
float64 w
float64[36] covariance
10.geometry_msgs::Quaternion
float64 x
float64 y
float64 z
float64 w
11.geometry_msgs::QuaternionStamped
Header header
uint32 seq
time stamp
string frame_id
Quaternion quaternion
float64 x
float64 y
float64 z
float64 w
12.geometry_msgs::Transform
Vector3 translation
float64 x
float64 y
float64 z
Quaternion rotation
float64 x
float64 y
float64 z
float64 w
13.geometry_msgs::TransformStamped
Header header
uint32 seq
time stamp
string frame_id
string child_frame_id # the frame id of the child frame
Transform transform
Vector3 translation
float64 x
float64 y
float64 z
Quaternion rotation
float64 x
float64 y
float64 z
float64 w
14.nav_msgs::Odometry
std_msgs/Header header
uint32 seq
time stamp //时间戳
string frame_id //父坐标系:位姿估计的坐标系
string child_frame_id //子坐标系
geometry_msgs/PoseWithCovariance pose //base_footprint在odom下的位姿
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
float64[36] covariance
geometry_msgs/TwistWithCovariance twist //速度=线速度+角速度
geometry_msgs/Twist twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
float64[36] covariance