ROS学习笔记（20）-- geometry_msgs admin 2023-01-29 18:03:01 篇首语：本文由小编为大家整理，主要介绍了ROS学习笔记（20）-- geometry_msgs相关的知识，希望对你有一定的参考价值。 目录 geometry_msgs/AccelStamped Message. 1 File: geometry_msgs/AccelStamped.msg. 1 Raw Message Definition. 1 Compact Message Definition. 1 geometry_msgs/Accel Message. 1 File: geometry_msgs/Accel.msg. 1 Raw Message Definition. 1 Compact Message Definition. 1 geometry_msgs/AccelWithCovariance Message. 1 NS。JSzhuoEr.cOmFile: geometry_msgs/AccelWithCovariance.msg. 1 Raw Message Definition. 1 Compact Message Definition. 2 geometry_msgs/AccelWithCovarianceStamped Message. 2 File: geometry_msgs/AccelWithCovarianceStamped.msg. 2 Raw Message Definition. 2 Compact Message Definition. 2 geometry_msgs/Inertia Message. 2 File: geometry_msgs/Inertia.msg. 3 Raw Message Definition. 3 Compact Message Definition. 3 geometry_msgs/InertiaStamped Message. 3 File: geometry_msgs/InertiaStamped.msg. 3 Raw Message Definition. 4 Compact Message Definition. 4 geometry_msgs/Point Message. 4 File: geometry_msgs/Point.msg. 4 Raw Message Definition. 4 Compact Message Definition. 4 geometry_msgs/Point32 Message. 4 File: geometry_msgs/Point32.msg. 4 Raw Message Definition. 4 Compact Message Definition. 5 geometry_msgs/Point32 Message. 5 File: geometry_msgs/Point32.msg. 5 Raw Message Definition. 5 Compact Message Definition. 6 geometry_msgs/PointStamped Message. 6 File: geometry_msgs/PointStamped.msg. 6 Raw Message Definition. 6 Compact Message Definition. 6 geometry_msgs/Polygon Message. 6 File: geometry_msgs/Polygon.msg. 6 Raw Message Definition. 6 Compact Message Definition. 6 geometry_msgs/PolygonStamped Message. 7 File: geometry_msgs/PolygonStamped.msg. 7 Raw Message Definition. 7 Compact Message Definition. 7 geometry_msgs/Pose Message. 7 File: geometry_msgs/Pose.msg. 7 Raw Message Definition. 7 Compact Message Definition. 7 geometry_msgs/Pose2D Message. 8 File: geometry_msgs/Pose2D.msg. 8 Raw Message Definition. 8 Compact Message Definition. 8 geometry_msgs/PoseArray Message. 9 File: geometry_msgs/PoseArray.msg. 9 Raw Message Definition. 9 Compact Message Definition. 9 geometry_msgs/PoseStamped Message. 9 File: geometry_msgs/PoseStamped.msg. 9 Raw Message Definition. 9 Compact Message Definition. 9 geometry_msgs/PoseWithCovariance Message. 10 File: geometry_msgs/PoseWithCovariance.msg. 10 Raw Message Definition. 10 Compact Message Definition. 10 geometry_msgs/PoseWithCovarianceStamped Message. 10 File: geometry_msgs/PoseWithCovarianceStamped.msg. 10 Raw Message Definition. 10 Compact Message Definition. 11 geometry_msgs/PoseWithCovarianceStamped Message. 11 File: geometry_msgs/PoseWithCovarianceStamped.msg. 11 Raw Message Definition. 11 Compact Message Definition. 11 geometry_msgs/Quaternion Message. 11 File: geometry_msgs/Quaternion.msg. 12 Raw Message Definition. 12 Compact Message Definition. 12 geometry_msgs/QuaternionStamped Message. 12 File: geometry_msgs/QuaternionStamped.msg. 12 Raw Message Definition. 12 Compact Message Definition. 12 geometry_msgs/Transform Message. 13 File: geometry_msgs/Transform.msg. 13 Raw Message Definition. 13 Compact Message Definition. 13 geometry_msgs/TransformStamped Message. 13 File: geometry_msgs/TransformStamped.msg. 13 Raw Message Definition. 13 Compact Message Definition. 14 geometry_msgs/Twist Message. 14 File: geometry_msgs/Twist.msg. 14 Raw Message Definition. 14 Compact Message Definition. 14 geometry_msgs/TwistStamped Message. 14 File: geometry_msgs/TwistStamped.msg. 14 Raw Message Definition. 14 Compact Message Definition. 15 geometry_msgs/TwistWithCovariance Message. 15 File: geometry_msgs/TwistWithCovariance.msg. 15 Raw Message Definition. 15 Compact Message Definition. 15 geometry_msgs/TwistWithCovarianceStamped Message. 15 File: geometry_msgs/TwistWithCovarianceStamped.msg. 16 Raw Message Definition. 16 Compact Message Definition. 16 geometry_msgs/Vector3 Message. 16 File: geometry_msgs/Vector3.msg. 16 Raw Message Definition. 16 Compact Message Definition. 16 geometry_msgs/Vector3Stamped Message. 17 File: geometry_msgs/Vector3Stamped.msg. 17 Raw Message Definition. 17 Compact Message Definition. 17 geometry_msgs/Wrench Message. 17 File: geometry_msgs/Wrench.msg. 17 Raw Message Definition. 17 Compact Message Definition. 17 geometry_msgs/WrenchStamped Message. 18 File: geometry_msgs/WrenchStamped.msg. 18 Raw Message Definition. 18 Compact Message Definition. 18 geometry_msgs/AccelStamped Message File: geometry_msgs/AccelStamped.msg Raw Message Definition # An accel with reference coordinate frame and timestampHeader header Accel accel Compact Message Definition std_msgs/Header headergeometry_msgs/Accel accel geometry_msgs/Accel Message File: geometry_msgs/Accel.msg Raw Message Definition NS。JSzhuoEr.cOm# This expresses acceleration in free space broken into its linear and angular parts.Vector3 linear Vector3 angular Compact Message Definition geometry_msgs/Vector3 lineargeometry_msgs/Vector3 angular geometry_msgs/AccelWithCovariance Message File: geometry_msgs/AccelWithCovariance.msg Raw Message Definition # 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 Compact Message Definition geometry_msgs/Accel accel float64[36] covariance geometry_msgs/AccelWithCovarianceStamped Message File: geometry_msgs/AccelWithCovarianceStamped.msg Raw Message Definition # This represents an estimated accel with reference coordinate frame and timestamp.Header header AccelWithCovariance accel Compact Message Definition std_msgs/Header headergeometry_msgs/AccelWithCovariance accel geometry_msgs/Inertia Message File: geometry_msgs/Inertia.msg Raw Message Definition # 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 Compact Message Definition float64 mgeometry_msgs/Vector3 com float64 ixx float64 ixy float64 ixz float64 iyy float64 iyz float64 izz geometry_msgs/InertiaStamped Message File: geometry_msgs/InertiaStamped.msg Raw Message Definition Header header Inertia inertia Compact Message Definition std_msgs/Header headergeometry_msgs/Inertia inertia geometry_msgs/Point Message File: geometry_msgs/Point.msg Raw Message Definition # This contains the position of a point in free spacefloat64 x float64 y float64 z Compact Message Definition float64 x float64 y float64 z NS。JSzhuoEr.cOmgeometry_msgs/Point32 Message File: geometry_msgs/Point32.msg Raw Message Definition # 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 Compact Message Definition float32 x float32 y float32 z geometry_msgs/Point32 Message File: geometry_msgs/Point32.msg Raw Message Definition # 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 Compact Message Definition float32 x float32 y float32 z geometry_msgs/PointStamped Message File: geometry_msgs/PointStamped.msg Raw Message Definition # This represents a Point with reference coordinate frame and timestampHeader header Point point Compact Message Definition std_msgs/Header headergeometry_msgs/Point point geometry_msgs/Polygon Message File: geometry_msgs/Polygon.msg Raw Message Definition #A specification of a polygon where the first and last points are assumed to be connectedPoint32[] points Compact Message Definition geometry_msgs/Point32[] points geometry_msgs/PolygonStamped Message File: geometry_msgs/PolygonStamped.msg Raw Message Definition # This represents a Polygon with reference coordinate frame and timestampHeader header Polygon polygon Compact Message Definition std_msgs/Header headergeometry_msgs/Polygon polygon geometry_msgs/Pose Message File: geometry_msgs/Pose.msg Raw Message Definition # A representation of pose in free space, composed of position and orientation. Point position Quaternion orientation Compact Message Definition geometry_msgs/Point positiongeometry_msgs/Quaternion orientation geometry_msgs/Pose2D Message File: geometry_msgs/Pose2D.msg Raw Message Definition # Deprecated# Please use the full 3D pose.# In general our recommendation is to use a full 3D representation of everything and for 2D specific applications make the appropriate projections into the plane for their calculations but optimally will preserve the 3D information during processing.# If we have parallel copies of 2D datatypes every UI and other pipeline will end up needing to have dual interfaces to plot everything. And you will end up with not being able to use 3D tools for 2D use cases even if they"re completely valid, as you"d have to reimplement it with different inputs and outputs. It"s not particularly hard to plot the 2D pose or compute the yaw error for the Pose message and there are already tools and libraries that can do this for you.# This expresses a position and orientation on a 2D manifold.float64 x float64 y float64 theta Compact Message Definition float64 x float64 y float64 theta geometry_msgs/PoseArray Message File: geometry_msgs/PoseArray.msg Raw Message Definition # An array of poses with a header for global reference.Header header Pose[] poses Compact Message Definition std_msgs/Header headergeometry_msgs/Pose[] poses geometry_msgs/PoseStamped Message NS。JSzhuoEr.cOmFile: geometry_msgs/PoseStamped.msg Raw Message Definition # A Pose with reference coordinate frame and timestampHeader header Pose pose Compact Message Definition std_msgs/Header headergeometry_msgs/Pose pose geometry_msgs/PoseWithCovariance Message File: geometry_msgs/PoseWithCovariance.msg Raw Message Definition # 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 Compact Message Definition geometry_msgs/Pose pose float64[36] covariance geometry_msgs/PoseWithCovarianceStamped Message File: geometry_msgs/PoseWithCovarianceStamped.msg Raw Message Definition # This expresses an estimated pose with a reference coordinate frame and timestampHeader header PoseWithCovariance pose Compact Message Definition std_msgs/Header headergeometry_msgs/PoseWithCovariance pose geometry_msgs/PoseWithCovarianceStamped Message File: geometry_msgs/PoseWithCovarianceStamped.msg Raw Message Definition # This expresses an estimated pose with a reference coordinate frame and timestampHeader header PoseWithCovariance pose Compact Message Definition std_msgs/Header headergeometry_msgs/PoseWithCovariance pose geometry_msgs/Quaternion Message File: geometry_msgs/Quaternion.msg Raw Message Definition # This represents an orientation in free space in quaternion form.float64 x float64 y float64 z float64 w Compact Message Definition float64 x float64 y float64 z float64 w geometry_msgs/QuaternionStamped Message File: geometry_msgs/QuaternionStamped.msg Raw Message Definition # This represents an orientation with reference coordinate frame and timestamp.Header header Quaternion quaternion Compact Message Definition std_msgs/Header headergeometry_msgs/Quaternion quaternion geometry_msgs/Transform Message File: geometry_msgs/Transform.msg Raw Message Definition # This represents the transform between two coordinate frames in free space.Vector3 translation Quaternion rotation Compact Message Definition geometry_msgs/Vector3 translationgeometry_msgs/Quaternion rotation geometry_msgs/TransformStamped Message File: geometry_msgs/TransformStamped.msg Raw Message Definition # This expresses a transform from coordinate frame header.frame_id# to the coordinate frame child_frame_id## This message is mostly used by the # tf package. # See its documentation for more information.Header header string child_frame_id # the frame id of the child frameTransform transform NS。JSzhuoEr.cOmCompact Message Definition std_msgs/Header header string child_frame_idgeometry_msgs/Transform transform geometry_msgs/Twist Message File: geometry_msgs/Twist.msg Raw Message Definition # This expresses velocity in free space broken into its linear and angular parts.Vector3 linear Vector3 angular Compact Message Definition geometry_msgs/Vector3 lineargeometry_msgs/Vector3 angular geometry_msgs/TwistStamped Message File: geometry_msgs/TwistStamped.msg Raw Message Definition # A twist with reference coordinate frame and timestampHeader header Twist twist Compact Message Definition std_msgs/Header headergeometry_msgs/Twist twist geometry_msgs/TwistWithCovariance Message File: geometry_msgs/TwistWithCovariance.msg Raw Message Definition # 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 Compact Message Definition geometry_msgs/Twist twist float64[36] covariance geometry_msgs/TwistWithCovarianceStamped Message File: geometry_msgs/TwistWithCovarianceStamped.msg Raw Message Definition # This represents an estimated twist with reference coordinate frame and timestamp.Header header TwistWithCovariance twist Compact Message Definition std_msgs/Header headergeometry_msgs/TwistWithCovariance twist geometry_msgs/Vector3 Message File: geometry_msgs/Vector3.msg Raw Message Definition # This represents a vector in free space. # It is only meant to represent a direction. Therefore, it does not# make sense to apply a translation to it (e.g., when applying a # generic rigid transformation to a Vector3, tf2 will only apply the# rotation). If you want your data to be translatable too, use the# geometry_msgs/Point message instead.float64 x float64 y float64 z Compact Message Definition float64 x float64 y float64 z geometry_msgs/Vector3Stamped Message File: geometry_msgs/Vector3Stamped.msg Raw Message Definition # This represents a Vector3 with reference coordinate frame and timestampHeader header Vector3 vector 以上是关于ROS学习笔记（20）-- geometry_msgs的主要内容，如果未能解决你的问题，请参考以下文章 Oracle学习（十四）分表分区 JS循环遍历方法你知道几个？ 您可能还会对下面的文章感兴趣： 相关文章 商丘私人空放联系方式_基本资料审核后快速就能放款平台 济宁私人借钱24小时在线，5万以上级别的贷款|无抵押个人借贷|秒下| 湖州空放私借2小时放款—身无分文借贷100%直接放款 宜昌纯私人放款微信电话——马上为您安排信贷服务+当日到账 蚌埠24小时私人放款联系方式随借随到-做生意借贷|应急周转|大额优先| 遵义空放借钱贷款联系电话：走投无路申请放款马上就到账 绵阳专业空放贷款私人联系方式，不看过往|先贷后放|马上拿钱| 德州附近个人放款电话号码多少：不审核+随借随还+当日成功+直接到账
