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sphinx.ros
  • Docs »
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  • nav_msgs
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nav_msgs¶

Contents:

  • Summary
  • Types
    • Message types
    • Service types
    • Action types

Summary¶

nav_msgs¶
Version:

1.12.3

Description:

nav_msgs defines the common messages used to interact with the navigation stack.

Maintainers:
  • Tully Foote <tfoote AT osrfoundation DOT org>
Licenses:
  • BSD
Urls:
  • website<http://wiki.ros.org/nav_msgs>
Authors:
  • Tully Foote
BuildDepends:
  • geometry_msgs
  • message_generation
  • std_msgs
  • actionlib_msgs
BuildtoolDepends:
 
  • catkin
BuildExportDepends:
 
  • geometry_msgs
  • message_runtime
  • std_msgs
  • actionlib_msgs
ExecDepends:
  • geometry_msgs
  • message_runtime
  • std_msgs
  • actionlib_msgs
Exports:
  • <architecture_independent/>

Types¶

Message types¶

  • nav_msgs/MapMetaData
  • nav_msgs/Odometry
  • nav_msgs/GridCells
  • nav_msgs/Path
  • nav_msgs/OccupancyGrid
nav_msgs/MapMetaData¶
Field:
  • map_load_time (time) –
  • resolution (float32) –
  • width (uint32) –
  • height (uint32) –
  • origin (geometry_msgs/Pose) –

This hold basic information about the characterists of the OccupancyGrid

The time at which the map was loaded

# This hold basic information about the characterists of the OccupancyGrid

# The time at which the map was loaded
time map_load_time
# The map resolution [m/cell]
float32 resolution
# Map width [cells]
uint32 width
# Map height [cells]
uint32 height
# The origin of the map [m, m, rad].  This is the real-world pose of the
# cell (0,0) in the map.
geometry_msgs/Pose origin
nav_msgs/Odometry¶
Field:
  • header (std_msgs/Header) –
  • child_frame_id (string) –
  • pose (geometry_msgs/PoseWithCovariance) –
  • twist (geometry_msgs/TwistWithCovariance) –

This represents an estimate of a position and velocity in free space. The pose in this message should be specified in the coordinate frame given by header.frame_id. The twist in this message should be specified in the coordinate frame given by the child_frame_id

# This represents an estimate of a position and velocity in free space.  
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
nav_msgs/GridCells¶
Field:
  • header (std_msgs/Header) –
  • cell_width (float32) –
  • cell_height (float32) –
  • cells[] (geometry_msgs/Point) –

an array of cells in a 2D grid

#an array of cells in a 2D grid
Header header
float32 cell_width
float32 cell_height
geometry_msgs/Point[] cells
nav_msgs/Path¶
Field:
  • header (std_msgs/Header) –
  • poses[] (geometry_msgs/PoseStamped) –

An array of poses that represents a Path for a robot to follow

#An array of poses that represents a Path for a robot to follow
Header header
geometry_msgs/PoseStamped[] poses
nav_msgs/OccupancyGrid¶
Field:
  • header (std_msgs/Header) –
  • info (nav_msgs/MapMetaData) –
  • data[] (int8) –

This represents a 2-D grid map, in which each cell represents the probability of occupancy.

# This represents a 2-D grid map, in which each cell represents the probability of
# occupancy.

Header header 

#MetaData for the map
MapMetaData info

# The map data, in row-major order, starting with (0,0).  Occupancy
# probabilities are in the range [0,100].  Unknown is -1.
int8[] data

Service types¶

  • nav_msgs/SetMap
  • nav_msgs/GetMap
  • nav_msgs/GetPlan
nav_msgs/SetMap¶
Field (Request):
 
  • map (nav_msgs/OccupancyGrid) –
  • initial_pose (geometry_msgs/PoseWithCovarianceStamped) –
Field (Response):
 
  • success (bool) –

Set a new map together with an initial pose

# Set a new map together with an initial pose
nav_msgs/OccupancyGrid map
geometry_msgs/PoseWithCovarianceStamped initial_pose
---
bool success
nav_msgs/GetMap¶
Field (Response):
 
  • map (nav_msgs/OccupancyGrid) –
# Get the map as a nav_msgs/OccupancyGrid
---
nav_msgs/OccupancyGrid map
nav_msgs/GetPlan¶
Field (Request):
 
  • start (geometry_msgs/PoseStamped) –
  • goal (geometry_msgs/PoseStamped) –
  • tolerance (float32) –
Field (Response):
 
  • plan (nav_msgs/Path) –

Get a plan from the current position to the goal Pose

The start pose for the plan

# Get a plan from the current position to the goal Pose 

# The start pose for the plan
geometry_msgs/PoseStamped start

# The final pose of the goal position
geometry_msgs/PoseStamped goal

# If the goal is obstructed, how many meters the planner can 
# relax the constraint in x and y before failing. 
float32 tolerance
---
nav_msgs/Path plan

Action types¶

  • nav_msgs/GetMap
nav_msgs/GetMap¶
Field (Result):
  • map (nav_msgs/OccupancyGrid) –
# Get the map as a nav_msgs/OccupancyGrid
---
nav_msgs/OccupancyGrid map
---
# no feedback
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