Types
All types
33 message types in 5 packages. Every page is generated from the package: fields, functions, a real example and the plot robot_msgs.viz draws for it.
std
robot_msgs.std · 1 type
geometry
robot_msgs.geometry · 12 types
AccelLinear and angular acceleration of a body, both in the frame the header names.InertiaMass
m (kg), centre of mass com (m) and the six independent tensor entries (kg·m²).PointMetres. Arithmetic returns Point, as the ROS type has no separate displacement type.PoseSame maths as Transform (every method converts and delegates), different intent: a Pose says where something *is*, a Transform says how to move between frames.Pose2DMetres and radians; theta is the heading about +Z, stored as given (not wrapped).PoseStampedROS 2: geometry_msgs/msg/PoseStampedQuaternionUnit quaternions are rotations; the fields are stored exactly as given.TransformT_parent_child: maps points expressed in the child frame into the parent frame.TransformStampedheader.frame_id is the parent frame; transform maps child_frame_id into it.TwistLinear and angular velocity of a body, both in the frame the header names.Vector3Metres, m/s, newtons... whatever the owning field says. Arithmetic returns Vector3.WrenchForce (N) and torque (N·m) applied to a body, both in the frame the header names.sensor
robot_msgs.sensor · 5 types
CameraInfoImage size, camera matrix
k, distortion d, rectification r, projection p.Imagedata is (H, W) or (H, W, C) in the dtype encoding names; the dtype is kept as is.ImuAngular velocity in rad/s, linear acceleration in m/s², both in header.frame_id.JointStateposition[i] (rad or m), velocity[i] and effort[i] belong to joint name[i].PointCloudpoints is (N, 3) float32 in header.frame_id; each channel has leading dimension N.vision
robot_msgs.vision · 8 types
BoundingBox2D
center is the box centre in pixels with rotation center.theta; sizes are in pixels.BoundingBox3Dcenter is the box pose in the parent frame; size is the extent along its own x, y, z.Detection2Dresults are the class hypotheses for the box; id tracks the object across frames.Detection2DArrayThe detections of one frame; header is the image's header.Detection3Dresults are the class hypotheses for the box; id tracks the object across frames.Detection3DArrayThe detections of one frame; header is the sensor frame's header.ObjectHypothesisclass_id names the class (a label or an id string); score is the confidence.ObjectHypothesisWithPosecovariance is the (6, 6) pose covariance ordered x, y, z, roll, pitch, yaw, or None.trajectory
robot_msgs.trajectory · 7 types
JointLimitsOne value per joint for each bound that is known;
None means unbounded.JointTrajectoryJoint-space motion keyed by joint name. Every per-sample array is (N, J).JointTrajectoryPointtrajectory_msgs/JointTrajectoryPoint; t is ROS's time_from_start.PoseTrajectorypositions (N, 3) in metres, orientations (N, 4) xyzw, optional twist per sample.PoseTrajectoryPointNo docstring yet.TrajectorySamples at strictly increasing times t (seconds after header.stamp).TrajectoryPointOne sample: its time and the value of every per-sample field at that time.