I. Overview
common_msgs ROS package that contains the message to other widely used. The message includes an action message ( actionlib_msgs ), diagnostic message ( diagnostic_msgs ), geometry ( geometry_msgs ), robot navigation ( nav_msgs ) and common sensor ( sensor_msgs ), such as a laser range finder, a camera, a point cloud.
The following list only the more commonly used msgs.
Two, actionlib_msgs
Message Type: actionlib_msgs / goalId a .msg comprising
1 time stamp 2 string id
actionlib_msgs/GoalStatus.msg
. 1 uint8 PENDING = 0 goal has not been processed end server # 2 uint8 the ACTIVE = . 1 # correct server in the processing goal . 3 uint8 preempted = 2 # goal cancellation request is received after starting the execution . 4 uint8 = the SUCCEEDED . 3 # goal is successful end server transmission . 5 uint8 = ABORTED . 4 # Goal can not be achieved . 6 uint8 = rEJECTED . 5 # untreated Goal was rejected . 7 uint8 = PREEMPTING . 6 # Goal performed after receipt of the cancellation request . 8 uint8 RECALLING = . 7 # Goal is canceled prior to execution, but unacknowledged goal action is canceled . 9 uint8 = Recalled . 8 # Goal was successfully canceled before execution 10 uint8 = LOST . 9 # Client server determines goal is determined not lost . 11 goalId goal_id 12 is uint8 Status 13 is String text
二、geometry_msgs
1、geometry_msgs/Pose.msg位姿
1 Point position 2 Quaternion orientation
2, geometry_msgs / Pose2D.msg more recommended 3D
1 float64 x 2 float64 y 3 float64 theta
. 3, geometry_msgs / pose array PoseArray.msg
1 std_msgs/Header header 2 geometry_msgs/Pose[] poses
. 4, geometry_msgs / Quaternion.msg quaternion
1 float64 x 2 float64 y 3 float64 z 4 float64 w
. 5, geometry_msgs / coordinate transformation Transform.msg
1 geometry_msgs/Vector3 translation 2 geometry_msgs/Quaternion rotation
. 6, geometry_msgs / Twist.msg linear and angular velocity
1 geometry_msgs/Vector3 linear 2 geometry_msgs/Vector3 angular
. 7, geometry_msgs / Vector3.msg vector, similar to a template, such as for indicating the position
1 float64 x 2 float64 y 3 float64 z
8, geometry_msgs / Wrench.msg not common, but it may be used to consider the dynamics of constraints
. 1 geometry_msgs / Vector3 force Force # 2 geometry_msgs / # Vector3 Torque Torque
Three, nav_msgs
1, nav_msgs / GridCells.msg two-dimensional grid
1 std_msgs/Header header 2 float32 cell_width 3 float32 cell_height 4 geometry_msgs/Point[] cells
2, nav_msgs / GetMap.srv grid map
1 nav_msgs/OccupancyGrid map
3, nav_msgs / MapMetaData.msg map resolution, length and width, the initial point
1 time map_load_time 2 float32 resolution 3 uint32 width 4 uint32 height 5 geometry_msgs/Pose origin
4, the nav_msgs / GetPlan.srv request, the response to
geometry_msgs / PoseStamped Start start pose geometry_msgs / PoseStamped Goal target pose float32 tolerance if the target is blocked, can tolerate many constraints --- nav_msgs / the Path Plan
5, nav_msgs / OccupancyGrid.msg grid map information
1 std_msgs/Header header 2 nav_msgs/MapMetaData info 3 int8[] data
6, nav_msgs / SetMap.srv initial position and orientation map
1 nav_msgs/OccupancyGrid map 2 geometry_msgs/PoseWithCovarianceStamped initial_pose
--- 3 bool success
. 7, nav_msgs / Odometry.msg posture angular velocity and linear velocity
1 std_msgs / Header header #pose is header.frame_id statement of 2 String child_frame_id #twist is child_frame_id statement
3 geometry_msgs/PoseWithCovariance pose
4 geometry_msgs/TwistWithCovariance twist
8, nav_msgs / Path.msg path, in fact, is an array consisting of a lot of attitude
std_msgs/Header header
geometry_msgs/PoseStamped[] poses
IV Conclusion
sensor_msgs conventional sensors placed (lower) stresses.