geometry_msgs/QuaternionStamped

geometry_msgs/QuaternionStamped

Raw Message Definition

This represents an orientation with reference coordinate frame and timestamp.

• Header header
• Quaternion quaternion

Compact Message Definition

• std_msgs/Header header
• geometry_msgs/Quaternion quaternion

std_msgs/Header Message

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:
  (1)stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called ‘secs’)
  (2)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/Quaternion Message

This represents an orientation in free space in quaternion form.

• float64 x
• float64 y
• float64 z
• float64 w
  内容复制于wiki/ros