常用ROS消息类型API整理速查

sensor_msgs

主要包含一些与传感器信息读取相关的消息类型

ROS Message Types
BatteryState
CameraInfo
ChannelFloat32
CompressedImage
FluidPressure
Illuminance
Image
Imu
JointState
Joy
JoyFeedback
JoyFeedbackArray
LaserEcho
LaserScan
MagneticField
MultiDOFJointState
MultiEchoLaserScan
NavSatFix
NavSatStatus
PointCloud
PointCloud2
PointField
Range
RegionOfInterest
RelativeHumidity
Temperature
TimeReference
SetCameraInfo
 





























geometry_msgs

主要包含一些与机器人运动控制和定位姿态相关的消息类型

ROS Message Types
Accel
AccelStamped
AccelWithCovariance
AccelWithCovarianceStamped
Inertia
InertiaStamped
Point
Point32
PointStamped
Polygon
PolygonStamped
Pose
Pose2D
PoseArray
PoseStamped
PoseWithCovariance
PoseWithCovarianceStamped
Quaternion
QuaternionStamped
Transform
TransformStamped
Twist
TwistStamped
TwistWithCovariance
TwistWithCovarianceStamped
Vector3
Vector3Stamped
Wrench
WrenchStamped





























std_msgs

主要包含一些基础的消息类型格式,是其他类型的基础

ROS Message Type
Bool
Byte
ByteMultiArray
Char
ColorRGBA
Duration
Empty
Float32
Float32MultiArray
Float64
Float64MultiArray
Header
Int16
Int16MultiArray
Int32
Int32MultiArray
Int64
Int64MultiArray
Int8
Int8MultiArray
MultiArrayDimension
MultiArrayLayout
String
Time
UInt16
UInt16MultiArray
UInt32
UInt32MultiArray
UInt64
UInt64MultiArray
UInt8
UInt8MultiArray

nav_msgs

主要包含一些与导航相关的消息类型

GridCells
MapMetaData
OccupancyGrid
Odometry
Path
GetMap
GetPlan
SetMap
GetMap

trajectory_msgs

主要包含一些与机械臂运动规划和关节控制的消息类型

ROS Message Types
JointTrajectory
JointTrajectoryPoint
MultiDOFJointTrajectory
MultiDOFJointTrajectoryPoint

visualization_msgs

主要包含一些在RVIZ中编写交互式maker相关的消息类型

ROS Message Types
ImageMarker
InteractiveMarker
InteractiveMarkerControl
InteractiveMarkerFeedback
InteractiveMarkerInit
InteractiveMarkerPose
InteractiveMarkerUpdate
Marker
MarkerArray
MenuEntry

diagnostic_msgs

主要包含一些与机器人自身自检状态相关的消息类型

ROS Message Types
DiagnosticArray
AddDiagnostics
DiagnosticStatus
SelfTest
KeyValue

仅供大家参考学习


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