MSG messages in ROS

1、rosmsg show sensor_msgs/Image

std_msgs/Header header  The message header   （std_msgs: Standard data type ）
  uint32 seq   Message number 
  time stamp   Time stamp 
  string frame_id   Binding coordinate system 
uint32 height   The vertical resolution of the image 
uint32 width   The lateral resolution of the image 
string encoding  Image coding format , contain RGB、YUV And so on , Are the encoding format of the original image , It does not involve image compression coding ;
uint8 is_bigendian   The storage mode of the size end of the image data ;
uint32 step   The number of bytes in a row of image data , As the step size parameter of data ;
uint8[] data   An array that stores image data , The size is step×height Bytes 

2、rosmsg show geometry_msgs/PoseStamped

std_msgs/Header header  The message header 
  uint32 seq   Message number 
  time stamp   Time stamp 
  string frame_id   Binding coordinate system 
geometry_msgs/Pose pose   Pose in geometric data type 
  geometry_msgs/Point position   Location of points xyz
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion orientation  （ Express the direction in free space in quaternion form ）
    float64 x
    float64 y
    float64 z
    float64 w

3、rosmsg show nav_msgs/Odometry

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string child_frame_id
geometry_msgs/PoseWithCovariance pose   Represents a spatial pose with uncertainty 
  geometry_msgs/Pose pose  Postures 
    geometry_msgs/Point position  Location of points 
      float64 x
      float64 y
      float64 z
    geometry_msgs/Quaternion orientation  Rotation represented by quaternions 
      float64 x
      float64 y
      float64 z
      float64 w
  float64[36] covariance  // Covariance matrix , Estimate the position of odometer geometry_msgs/TwistWithCovariance twist   Angular velocity and linear velocity in free space 
  geometry_msgs/Twist twist
    geometry_msgs/Vector3 linear  // Linear velocity information 
      float64 x
      float64 y
      float64 z
    geometry_msgs/Vector3 angular // Angular velocity information 
      float64 x
      float64 y
      float64 z
  float64[36] covariance

4、rosmsg show traj_utils/Bspline

int32 drone_id   UAV number 
int32 order   The order 
int64 traj_id   Trajectory index 
time start_time   Starting time 
float64[] knots  B Spline control points 
geometry_msgs/Point[] pos_pts   Points in geometric data types xyz The location of 
  float64 x
  float64 y
  float64 z
float64[] yaw_pts   Yaw angle 
float64 yaw_dt

5、rosmsg show sensor_msgs/PointCloud2

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint32 height
uint32 width
sensor_msgs/PointField[] fields
(PointCloud2 The data of the message fields Contains a list of points encoded as byte streams , Each of these points is a structure . Single PointCloud2 The format of the point in the message is defined by the field , The fields are sensor_msgs/PointField List of objects . To convert data back to a single point , It must be deserialized .)
  uint8 INT8=1
  uint8 UINT8=2
  uint8 INT16=3
  uint8 UINT16=4
  uint8 INT32=5
  uint8 UINT32=6
  uint8 FLOAT32=7
  uint8 FLOAT64=8
  string name  name 
  uint32 offset   back 
  uint8 datatype  data type 
  uint32 count    number 
bool is_bigendian  The storage mode of the size end of the image data ;
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense  Judge whether it is dense 

6、rosmsg show visualization_msgs/Marker

 Draw visual signs 
uint8 ARROW=0// arrow 
uint8 CUBE=1// Cube 
uint8 SPHERE=2// The ball 
uint8 CYLINDER=3// Cylinder 
uint8 LINE_STRIP=4// line （ The line of points ）
uint8 LINE_LIST=5// Line sequence 
uint8 CUBE_LIST=6// Cube sequence 
uint8 SPHERE_LIST=7// Ball sequence 
uint8 POINTS=8// Point set 
uint8 TEXT_VIEW_FACING=9// Show 3D Words of 
uint8 MESH_RESOURCE=10// grid ？
uint8 TRIANGLE_LIST=11// Triangle sequence 
// Operations on tags 
uint8 ADD=0
uint8 MODIFY=0
uint8 DELETE=2
uint8 DELETEALL=3

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string ns   // Namespace namespace
int32 id    // Associate with namespace , Form the only id, This is the only one id Each marker can be distinguished , So that the program can operate on the specified markers 
int32 type  // type 
int32 action 	// operation , Add, modify or delete 
geometry_msgs/Pose pose  Location + Direction 
  geometry_msgs/Point position  Location 
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion orientation  Quaternion table rotation or direction of free space 
    float64 x
    float64 y
    float64 z
    float64 w
geometry_msgs/Vector3 scale  Marker object range 
  float64 x
  float64 y
  float64 z
std_msgs/ColorRGBA color  Color 
  float32 r
  float32 g
  float32 b
  float32 a
duration lifetime   How long should an object last before it is automatically deleted .
bool frame_locked  
 If this flag should be frame locked , That is, each time step is retransmitted to its frame 
geometry_msgs/Point[] points   Indicate the position of each point in the sequence 
  float64 x
  float64 y
  float64 z
std_msgs/ColorRGBA[] colors  Color 
  float32 r
  float32 g
  float32 b
  float32 a
string text   For text tags only 
string mesh_resource  Only for grid resource tags 
bool mesh_use_embedded_materials   Mesh uses embedded materials