geometry_msgs

Summary

geometry_msgs
Version:

1.11.8
Description:

geometry_msgs provides messages for common geometric primitives such as points, vectors, and poses. These primitives are designed to provide a common data type and facilitate interoperability throughout the system.
Maintainers:
  • Tully Foote <tfoote AT osrfoundation DOT org>
Licenses:
  • BSD
Urls:
Authors:
  • Tully Foote
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:
Exports:
  • <architecture_independent/>

Types

Message types

geometry_msgs/Vector3Stamped
Field:

This represents a Vector3 with reference coordinate frame and timestamp

# This represents a Vector3 with reference coordinate frame and timestamp
Header header
Vector3 vector
geometry_msgs/Pose
Field:

A representation of pose in free space, composed of postion and orientation.

# A representation of pose in free space, composed of postion and orientation. 
Point position
Quaternion orientation
geometry_msgs/Accel
Field:

This expresses acceleration in free space broken into its linear and angular parts.

# This expresses acceleration in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular
geometry_msgs/PoseStamped
Field:

A Pose with reference coordinate frame and timestamp

# A Pose with reference coordinate frame and timestamp
Header header
Pose pose
geometry_msgs/Quaternion
Field:
  • x (float64) –
  • y (float64) –
  • z (float64) –
  • w (float64) –

This represents an orientation in free space in quaternion form.

# This represents an orientation in free space in quaternion form.

float64 x
float64 y
float64 z
float64 w
geometry_msgs/TransformStamped
Field:

This expresses a transform from coordinate frame header.frame_id to the coordinate frame child_frame_id

This message is mostly used by the <a href=”http://www.ros.org/wiki/tf“>tf</a> package. See its documentation for more information.

# This expresses a transform from coordinate frame header.frame_id
# to the coordinate frame child_frame_id
#
# This message is mostly used by the 
# <a href="http://www.ros.org/wiki/tf">tf</a> package. 
# See its documentation for more information.

Header header
string child_frame_id # the frame id of the child frame
Transform transform
geometry_msgs/TwistWithCovariance
Field:

This expresses velocity in free space with uncertainty.

# This expresses velocity in free space with uncertainty.

Twist twist

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
geometry_msgs/AccelWithCovariance
Field:

This expresses acceleration in free space with uncertainty.

# This expresses acceleration in free space with uncertainty.

Accel accel

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
geometry_msgs/PoseArray
Field:

An array of poses with a header for global reference.

# An array of poses with a header for global reference.

Header header

Pose[] poses
geometry_msgs/InertiaStamped
Field: 
Header header
Inertia inertia
geometry_msgs/Inertia
Field:
  • m (float64) –
  • com (geometry_msgs/Vector3) –
  • ixx (float64) –
  • ixy (float64) –
  • ixz (float64) –
  • iyy (float64) –
  • iyz (float64) –
  • izz (float64) –

Mass [kg]

# Mass [kg]
float64 m

# Center of mass [m]
geometry_msgs/Vector3 com

# Inertia Tensor [kg-m^2]
#     | ixx ixy ixz |
# I = | ixy iyy iyz |
#     | ixz iyz izz |
float64 ixx
float64 ixy
float64 ixz
float64 iyy
float64 iyz
float64 izz
geometry_msgs/TwistStamped
Field:

A twist with reference coordinate frame and timestamp

# A twist with reference coordinate frame and timestamp
Header header
Twist twist
geometry_msgs/Polygon
Field:

A specification of a polygon where the first and last points are assumed to be connected

#A specification of a polygon where the first and last points are assumed to be connected
Point32[] points
geometry_msgs/Twist
Field:

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

# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular
geometry_msgs/Point
Field:
  • x (float64) –
  • y (float64) –
  • z (float64) –

This contains the position of a point in free space

# This contains the position of a point in free space
float64 x
float64 y
float64 z
geometry_msgs/Transform
Field:

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

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

Vector3 translation
Quaternion rotation
geometry_msgs/PolygonStamped
Field:

This represents a Polygon with reference coordinate frame and timestamp

# This represents a Polygon with reference coordinate frame and timestamp
Header header
Polygon polygon
geometry_msgs/PointStamped
Field:

This represents a Point with reference coordinate frame and timestamp

# This represents a Point with reference coordinate frame and timestamp
Header header
Point point
geometry_msgs/QuaternionStamped
Field:

This represents an orientation with reference coordinate frame and timestamp.

# This represents an orientation with reference coordinate frame and timestamp.

Header header
Quaternion quaternion
geometry_msgs/TwistWithCovarianceStamped
Field:

This represents an estimated twist with reference coordinate frame and timestamp.

# This represents an estimated twist with reference coordinate frame and timestamp.
Header header
TwistWithCovariance twist
geometry_msgs/Pose2D
Field:
  • x (float64) –
  • y (float64) –
  • theta (float64) –

This expresses a position and orientation on a 2D manifold.

# This expresses a position and orientation on a 2D manifold.

float64 x
float64 y
float64 theta
geometry_msgs/Vector3
Field:
  • x (float64) –
  • y (float64) –
  • z (float64) –

This represents a vector in free space.

# This represents a vector in free space. 

float64 x
float64 y
float64 z
geometry_msgs/PoseWithCovariance
Field:

This represents a pose in free space with uncertainty.

# This represents a pose in free space with uncertainty.

Pose pose

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
geometry_msgs/WrenchStamped
Field:

A wrench with reference coordinate frame and timestamp

# A wrench with reference coordinate frame and timestamp
Header header
Wrench wrench
geometry_msgs/PoseWithCovarianceStamped
Field:

This expresses an estimated pose with a reference coordinate frame and timestamp

# This expresses an estimated pose with a reference coordinate frame and timestamp

Header header
PoseWithCovariance pose
geometry_msgs/AccelStamped
Field:

An accel with reference coordinate frame and timestamp

# An accel with reference coordinate frame and timestamp
Header header
Accel accel
geometry_msgs/Wrench
Field:

This represents force in free space, separated into its linear and angular parts.

# This represents force in free space, separated into
# its linear and angular parts.
Vector3  force
Vector3  torque
geometry_msgs/AccelWithCovarianceStamped
Field:

This represents an estimated accel with reference coordinate frame and timestamp.

# This represents an estimated accel with reference coordinate frame and timestamp.
Header header
AccelWithCovariance accel
geometry_msgs/Point32
Field:
  • x (float32) –
  • y (float32) –
  • z (float32) –

This contains the position of a point in free space(with 32 bits of precision). It is recommeded to use Point wherever possible instead of Point32.

This recommendation is to promote interoperability.

This message is designed to take up less space when sending lots of points at once, as in the case of a PointCloud.

# This contains the position of a point in free space(with 32 bits of precision).
# It is recommeded to use Point wherever possible instead of Point32.  
# 
# This recommendation is to promote interoperability.  
#
# This message is designed to take up less space when sending
# lots of points at once, as in the case of a PointCloud.  

float32 x
float32 y
float32 z