ROS中常用的数据类型（其实不用记，只需要查一下rosmsg命令即可）

更新（！！！）

不用记，只需在终端执行rosmsg命令即可：：

rosmsg show geometry_msgs::Point

最近用这些数据类型总是会忘，写记录方便查询

1.geometry_msgs::Point

float64 x
float64 y
float64 z

2.geometry_msgs::Point32

float32 x
float32 y
float32 z

3.geometry_msgs::PointStamped

Header header
	uint32 seq
	time stamp
	string frame_id

Point point
	float64 x
	float64 y
	float64 z

4.geometry_msgs::Pose

Point position
	float64 x
	float64 y
	float64 z
	
Quaternion orientation
	float64 x
	float64 y
	float64 z
	float64 w

5.geometry_msgs::Pose2D

float64 x
float64 y
float64 theta

6.geometry_msgs::PoseArray

Header header
	uint32 seq
	time stamp
	string frame_id

Pose[] poses
	Point position
		float64 x
		float64 y
		float64 z
	Quaternion orientation
		float64 x
		float64 y
		float64 z
		float64 w

7.geometry_msgs::PoseStamped

Header header
	uint32 seq
	time stamp
	string frame_id
	
Pose pose
	Point position
		float64 x
		float64 y
		float64 z
	Quaternion orientation
		float64 x
		float64 y
		float64 z
		float64 w

8.geometry_msgs::PoseWithCovariance

# This represents a pose in free space with uncertainty.
Pose pose
	Point position
		float64 x
		float64 y
		float64 z
	Quaternion orientation
		float64 x
		float64 y
		float64 z
		float64 w

float64[36] covariance

9.geometry_msgs::PoseWithCovarianceStamped

Header header
	uint32 seq
	time stamp
	string frame_id
	
PoseWithCovariance pose
	Pose pose
		Point position
			float64 x
			float64 y
			float64 z
		Quaternion orientation
			float64 x
			float64 y
			float64 z
			float64 w
	float64[36] covariance

10.geometry_msgs::Quaternion

float64 x
float64 y
float64 z
float64 w

11.geometry_msgs::QuaternionStamped

Header header
	uint32 seq
	time stamp
	string frame_id
	
Quaternion quaternion
	float64 x
	float64 y
	float64 z
	float64 w

12.geometry_msgs::Transform

Vector3 translation
	float64 x
	float64 y
	float64 z
	
Quaternion rotation
	float64 x
	float64 y
	float64 z
	float64 w

13.geometry_msgs::TransformStamped

Header header
	uint32 seq
	time stamp
	string frame_id
	
string child_frame_id # the frame id of the child frame

Transform transform
	Vector3 translation
		float64 x
		float64 y
		float64 z
		
	Quaternion rotation
		float64 x
		float64 y
		float64 z
		float64 w

14.nav_msgs::Odometry

std_msgs/Header header
	uint32 seq
	time stamp			//时间戳
	string frame_id		//父坐标系：位姿估计的坐标系
string child_frame_id	//子坐标系
geometry_msgs/PoseWithCovariance pose	//base_footprint在odom下的位姿
	geometry_msgs/Pose pose
		geometry_msgs/Point position
			float64 x
			float64 y
			float64 z
		geometry_msgs/Quaternion orientation
			float64 x
			float64 y
			float64 z
			float64 w
	float64[36] covariance	
geometry_msgs/TwistWithCovariance twist		//速度=线速度+角速度
	geometry_msgs/Twist twist
		geometry_msgs/Vector3 linear
			float64 x
			float64 y
			float64 z
		geometry_msgs/Vector3 angular
			float64 x
			float64 y
			float64 z
	float64[36] covariance

参考geometry_msgs
参考nav_msgs/Odometry Message