Messages – Navigation and Odometry

Contents

Messages – Navigation and Odometry

Odometry message

complete reference : nav_msgs/Odometry

here’s the content of the message:

# 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

Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist

TwistWithCovariance message

complete reference : geometry_msgs/TwistWithCovariance

message content:

# This expresses velocity in free space with uncertainty.
Twist twist

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance

Twist message

complete reference : geometry_msgs/Twist

# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular

Vector3 message

complete reference : geometry_msgs/Vector3

float64 x
float64 y
float64 z

PoseWithCovariance

complete reference : geometry_msgs/PoseWithCovariance.msg

message content:

# This represents a pose in free space with uncertainty.
Pose pose

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance