geometry_msgs¶

Message types¶

• geometry_msgs/PointStamped
• geometry_msgs/PoseWithCovarianceStamped
• geometry_msgs/QuaternionStamped
• geometry_msgs/TransformStamped
• geometry_msgs/Vector3
• geometry_msgs/PoseWithCovariance
• geometry_msgs/Vector3Stamped
• geometry_msgs/Point
• geometry_msgs/PoseStamped
• geometry_msgs/Accel
• geometry_msgs/Wrench
• geometry_msgs/Quaternion
• geometry_msgs/InertiaStamped
• geometry_msgs/WrenchStamped
• geometry_msgs/Twist
• geometry_msgs/AccelStamped
• geometry_msgs/Point32
• geometry_msgs/PoseArray
• geometry_msgs/Pose
• geometry_msgs/PolygonStamped
• geometry_msgs/Transform
• geometry_msgs/Inertia
• geometry_msgs/Polygon
• geometry_msgs/TwistWithCovarianceStamped
• geometry_msgs/Pose2D
• geometry_msgs/TwistWithCovariance
• geometry_msgs/AccelWithCovarianceStamped
• geometry_msgs/AccelWithCovariance
• geometry_msgs/TwistStamped

geometry_msgs/PointStamped¶

Field:	header (std_msgs/Header) – point (geometry_msgs/Point) –

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/PoseWithCovarianceStamped¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/PoseWithCovariance) –

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/QuaternionStamped¶

Field:	header (std_msgs/Header) – quaternion (geometry_msgs/Quaternion) –

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/TransformStamped¶

Field:	header (std_msgs/Header) – child_frame_id (string) – transform (geometry_msgs/Transform) –

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://wiki.ros.org/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://wiki.ros.org/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/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:	pose (geometry_msgs/Pose) – covariance[36] (float64) –

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/Vector3Stamped¶

Field:	header (std_msgs/Header) – vector (geometry_msgs/Vector3) –

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/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/PoseStamped¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/Pose) –

A Pose with reference coordinate frame and timestamp

# A Pose with reference coordinate frame and timestamp
Header header
Pose pose

geometry_msgs/Accel¶

Field:	linear (geometry_msgs/Vector3) – angular (geometry_msgs/Vector3) –

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/Wrench¶

Field:	force (geometry_msgs/Vector3) – torque (geometry_msgs/Vector3) –

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/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/InertiaStamped¶

Field:	header (std_msgs/Header) – inertia (geometry_msgs/Inertia) –

Header header
Inertia inertia

geometry_msgs/WrenchStamped¶

Field:	header (std_msgs/Header) – wrench (geometry_msgs/Wrench) –

A wrench with reference coordinate frame and timestamp

# A wrench with reference coordinate frame and timestamp
Header header
Wrench wrench

geometry_msgs/Twist¶

Field:	linear (geometry_msgs/Vector3) – angular (geometry_msgs/Vector3) –

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/AccelStamped¶

Field:	header (std_msgs/Header) – accel (geometry_msgs/Accel) –

An accel with reference coordinate frame and timestamp

# An accel with reference coordinate frame and timestamp
Header header
Accel 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

geometry_msgs/PoseArray¶

Field:	header (std_msgs/Header) – poses[] (geometry_msgs/Pose) –

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/Pose¶

Field:	position (geometry_msgs/Point) – orientation (geometry_msgs/Quaternion) –

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/PolygonStamped¶

Field:	header (std_msgs/Header) – polygon (geometry_msgs/Polygon) –

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/Transform¶

Field:	translation (geometry_msgs/Vector3) – rotation (geometry_msgs/Quaternion) –

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/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/Polygon¶

Field:	points[] (geometry_msgs/Point32) –

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/TwistWithCovarianceStamped¶

Field:	header (std_msgs/Header) – twist (geometry_msgs/TwistWithCovariance) –

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/TwistWithCovariance¶

Field:	twist (geometry_msgs/Twist) – covariance[36] (float64) –

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/AccelWithCovarianceStamped¶

Field:	header (std_msgs/Header) – accel (geometry_msgs/AccelWithCovariance) –

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/AccelWithCovariance¶

Field:	accel (geometry_msgs/Accel) – covariance[36] (float64) –

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/TwistStamped¶

Field:	header (std_msgs/Header) – twist (geometry_msgs/Twist) –

A twist with reference coordinate frame and timestamp

# A twist with reference coordinate frame and timestamp
Header header
Twist twist