ROS2 Geometry Messages

Quaternion

geometry_msgs.Quaternion — orientation (f64 x, y, z, w).

Defaults to the identity quaternion (w = 1).

Vector3

geometry_msgs.Vector3 — 3D vector (f64 x, y, z).

Accel

geometry_msgs.Accel — linear + angular :class:Vector3 acceleration. CdrFixed (48-byte payload).

AccelWithCovariance

geometry_msgs.AccelWithCovariance — :class:Accel + 6×6 covariance.

CdrFixed (336 bytes). Use to_bytes() / from_cdr().

Inertia

geometry_msgs.Inertia — rigid-body mass + inertia tensor. CdrFixed.

Point

geometry_msgs.Point — 3D point (f64 x, y, z).

Point32

geometry_msgs.Point32 — 3D point (f32 x, y, z).

Polygon

geometry_msgs.Polygon — variable-length sequence of :class:Point32.

Buffer-backed; supports len() and indexing.

Pose

geometry_msgs.Pose — :class:Point position + :class:Quaternion orientation. CdrFixed (56-byte payload).

Transform

geometry_msgs.Transform — :class:Vector3 translation + :class:Quaternion rotation. CdrFixed (56-byte payload).

TransformStamped

geometry_msgs.TransformStamped — header + child_frame_id + :class:Transform.

Buffer-backed; from_cdr deserializes via offset table.