ROS2 Geometry Messages

Quaternion

This represents an orientation in free space in quaternion form.

Vector3

This represents a vector in free space. This is semantically different than a point. A vector is always anchored at the origin. When a transform is applied to a vector, only the rotational component is applied.

Accel

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

AccelWithCovariance

This expresses acceleration in free space with uncertainty.

covariance class-attribute instance-attribute

covariance: array[float64, 36] = default_field([0] * 36)

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)

Inertia

com class-attribute instance-attribute

com: Vector3 = default_field(Vector3)

Center of mass [m]

izz class-attribute instance-attribute

izz: float64 = 0

Inertia Tensor [kg-m^2] | ixx ixy ixz | I = | ixy iyy iyz | | ixz iyz izz |

m class-attribute instance-attribute

m: float64 = 0

Mass [kg]

Point

This contains the position of a point in free space

Point32

This contains the position of a point in free space(with 32 bits of precision). It is recommended 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.

Polygon

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

Pose

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

Transform

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

TransformStamped

This expresses a transform from coordinate frame header.frame_id to the coordinate frame child_frame_id at the time of header.stamp

This message is mostly used by the tf2 package. See its documentation for more information.

The child_frame_id is necessary in addition to the frame_id in the Header to communicate the full reference for the transform in a self contained message.

child_frame_id class-attribute instance-attribute

child_frame_id: str = ''

The frame id of the child frame to which this transform points.

header class-attribute instance-attribute

header: Header = default_field(Header)

The frame id in the header is used as the reference frame of this transform.

transform class-attribute instance-attribute

transform: Transform = default_field(Transform)

Translation and rotation in 3-dimensions of child_frame_id from header.frame_id.