导航消息之nav_msgs/Odometry

rosmsg show nav_msgs/Odometry

std_msgs/Header headeruint32 seqtime stampstring frame_id
string child_frame_id
geometry_msgs/PoseWithCovariance posegeometry_msgs/Pose posegeometry_msgs/Point positionfloat64 xfloat64 yfloat64 zgeometry_msgs/Quaternion orientationfloat64 xfloat64 yfloat64 zfloat64 wfloat64[36] covariance
geometry_msgs/TwistWithCovariance twistgeometry_msgs/Twist twistgeometry_msgs/Vector3 linearfloat64 xfloat64 yfloat64 zgeometry_msgs/Vector3 angularfloat64 xfloat64 yfloat64 zfloat64[36] covariance

#这表示对自由空间中的位置和速度的估计。
#此消息中的姿势应在 header.frame_id 给出的坐标框架中指定。
此消息中的扭曲应在 child_frame_id 给出的坐标框架中指定

# 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================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id================================================================================
MSG: geometry_msgs/PoseWithCovariance
# 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================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of position and orientation. 
Point position
Quaternion orientation================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.float64 x
float64 y
float64 z
float64 w================================================================================
MSG: geometry_msgs/TwistWithCovariance
# 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================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
Vector3  angular================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space. 
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a 
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.float64 x
float64 y
float64 z"""