ROS2 Navigation Messages
GridCells
An array of cells in a 2D grid
cell_height
class-attribute
instance-attribute
cell_height: float32 = 0
Height of each cell
cell_width
class-attribute
instance-attribute
cell_width: float32 = 0
Width of each cell
cells
class-attribute
instance-attribute
cells: sequence[Point] = default_field([])
Each cell is represented by the Point at the center of the cell
MapMetaData
This hold basic information about the characteristics of the OccupancyGrid
height
class-attribute
instance-attribute
height: uint32 = 0
Map height [cells]
map_load_time
class-attribute
instance-attribute
map_load_time: Time = default_field(Time)
The time at which the map was loaded
origin
class-attribute
instance-attribute
origin: Pose = default_field(Pose)
The origin of the map [m, m, rad]. This is the real-world pose of the bottom left corner of cell (0,0) in the map.
resolution
class-attribute
instance-attribute
resolution: float32 = 0
The map resolution [m/cell]
width
class-attribute
instance-attribute
width: uint32 = 0
Map width [cells]
OccupancyGrid
This represents a 2-D grid map
data
class-attribute
instance-attribute
data: sequence[int8] = default_field([])
The map data, in row-major order, starting with (0,0). Cell (1, 0) will be listed second, representing the next cell in the x direction. Cell (0, 1) will be at the index equal to info.width, followed by (1, 1). The values inside are application dependent, but frequently, 0 represents unoccupied, 1 represents definitely occupied, and -1 represents unknown.
info
class-attribute
instance-attribute
info: MapMetaData = default_field(MapMetaData)
MetaData for the map
Odometry
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
child_frame_id
class-attribute
instance-attribute
child_frame_id: str = ''
Frame id the pose points to. The twist is in this coordinate frame.
header
class-attribute
instance-attribute
header: Header = default_field(Header)
Includes the frame id of the pose parent.
pose
class-attribute
instance-attribute
pose: PoseWithCovariance = default_field(PoseWithCovariance)
Estimated pose that is typically relative to a fixed world frame.
twist
class-attribute
instance-attribute
twist: TwistWithCovariance = default_field(
TwistWithCovariance
)
Estimated linear and angular velocity relative to child_frame_id.