PoseStamped

No docstring in robot_msgs yet.

Import

from robot_msgs.geometry import PoseStamped

ROS 2geometry_msgs/msg/PoseStamped

Preview

The figure robot_msgs.viz.plot(example) draws for the example below.

Fields

Name	Type	Default
`header`	`Header`	`Header()`
`pose`	`Pose`	`Pose()`

Example

One instance from the package's own test catalog; the output is its real repr().

PoseStamped(header=Header(stamp=1761600000.25, frame_id='camera_color_optical_frame'), pose=Pose(position=Point(x=0.4, y=-0.1, z=0.25), orientation=Quaternion(x=-0.10566871683993562, y=0.6991667342497077, z=0.10566871683993563, w=0.6991667342497078)))

to_dict() as JSON

{
  "_type": "geometry/PoseStamped",
  "header": {
    "_type": "std/Header",
    "stamp": 1761600000.25,
    "frame_id": "camera_color_optical_frame",
    "meta": {}
  },
  "pose": {
    "_type": "geometry/Pose",
    "position": {
      "_type": "geometry/Point",
      "x": 0.4,
      "y": -0.1,
      "z": 0.25
    },
    "orientation": {
      "_type": "geometry/Quaternion",
      "x": -0.10566871683993562,
      "y": 0.6991667342497077,
      "z": 0.10566871683993563,
      "w": 0.6991667342497078
    }
  }
}

Long arrays are cut after 16 values and say so with “…”.

Functions

Constructors

Classmethods and staticmethods: ways to build one.

`from_xyz_rpy`

from_xyz_rpy(
    x: float,
    y: float,
    z: float,
    roll: float,
    pitch: float,
    yaw: float,
    frame_id: str = '',
    stamp: float = 0.0,
) -> PoseStamped

No docstring.

`from_dict`

from Msg

from_dict(data: Mapping[str, Any]) -> M

No docstring.

Methods

Return new values; messages are never mutated.

`rotated`

rotated(
    roll: float = 0.0,
    pitch: float = 0.0,
    yaw: float = 0.0,
    local: bool = False,
) -> PoseStamped

Pose.rotated, keeping the header.

`shifted`

shifted(
    dx: float = 0.0,
    dy: float = 0.0,
    dz: float = 0.0,
    local: bool = False,
) -> PoseStamped

Pose.shifted, keeping the header.

`replace`

from Msg

replace(**changes: Any) -> M

A copy with some fields changed. Validation runs again.

`to_dict`

from Msg

to_dict() -> dict[str, Any]

JSON-safe dict with a "_type" key; arrays keep their dtype and shape.

Uses

Types its fields refer to.

Pose Header