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geometry_msgs

This package provides messages for common geometric primitives such as points, vectors, and poses. These primitives are designed to provide a common data type and facilitate interoperability throughout the system.

For more information about ROS 2 interfaces, see docs.ros.org.

Messages (.msg)

• Accel: Expresses acceleration in free space broken into its linear and angular parts.
• AccelStamped: An accel with reference coordinate frame and timestamp.
• AccelWithCovariance: Acceleration in free space with uncertainty.
• AccelWithCovarianceStamped: An estimated accel with reference coordinate frame and timestamp.
• Inertia: Expresses the inertial properties of a link.
• InertiaStamped: An Inertia with reference coordinate frame and timestamp.
• Point32: The position of a 3-dimensional point in free space, with 32-bit fields.
• Point: The position of a 3-dimensional point in free space.
• PointStamped: Point with reference coordinate frame and timestamp.
• Polygon: A specification of a polygon where the first and last points are assumed to be connected.
• PolygonInstance: A specification of a polygon where the first and last points are assumed to be connected. Contains an identification field for disambiguation of multiple instances.
• PolygonInstanceStamped: A Polygon with reference coordinate frame and timestamp. Contains an identification field for disambiguation of multiple instances.
• PolygonStamped: A Polygon with reference coordinate frame and timestamp.
• Pose2D: Deprecated as of Foxy and will potentially be removed in any following release.
• PoseArray: An array of poses with a header for global reference.
• Pose: A representation of pose in free space, composed of position and orientation.
• PoseStamped: A Pose with reference coordinate frame and timestamp.
• PoseWithCovariance: A pose in free space with uncertainty.
• PoseWithCovarianceStamped: An estimated pose with a reference coordinate frame and timestamp.
• Quaternion: An orientation in free space in quaternion form.
• QuaternionStamped: An orientation with reference coordinate frame and timestamp.
• Transform: The transform between two coordinate frames in free space.
• TransformStamped: A transform from coordinate frame header.frame_id to the coordinate frame child_frame_id.
• Twist: Velocity in 3-dimensional free space broken into its linear and angular parts.
• TwistStamped: A twist with reference coordinate frame and timestamp.
• TwistWithCovariance: Velocity in 3-dimensional free space with uncertainty.
• TwistWithCovarianceStamped: An estimated twist with reference coordinate frame and timestamp.
• Vector3: Represents a vector in 3-dimensional free space.
• Vector3Stamped: Represents a Vector3 with reference coordinate frame and timestamp.
• Wrench: Represents force in free space, separated into its linear and angular parts.
• WrenchStamped: A wrench with reference coordinate frame and timestamp.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.