Ros規划主要結構體解析

導航

1.位姿PoseStamped

Header_{
    uint32_t seq；
    ros::Time stamp；
    basic_string frame_id；
}

Quaternion_{
    double x；
    double y；
    double z；
    double w；
}
Pose_{
    Point_ position；
    Quaternion_ orientation；
}


PoseStamped{ Header_ header； Pose_ pose; }

 

2.柵格地圖OccupancyGrid

MapMetaData_{
    ros::Time map_load_time;
    float resolution;
    uint32_t width;
    uint32_t height;
    Pose_ origin;
}


OccupancyGrid_{
    Header_ header;
    MapMetaData_ info;
    vector<int8_t> data;
}

 

3.Path(nav_msgs::Path path;)

Path_{
    Header_ header；
    vector<PoseStamped_> poses；
}

 

 

定位

1.PoseWithCovarianceStamped

表示帶有時間標簽和參考坐標的估計位姿。

 

std_msgs/Header header; geometry_msgs/PoseWithCovariance pose; 
{
//其中PoseWithCovariance:
geometry_msgs/Pose pose;
float64[36] covariance;

//其中geometry_msgs/Pose:
geometry_msgs/Point position;
geometry_msgs/Quaternion orientation;
}

 

 

 

 

2.geometry_msgs/TwistStamped

std_msgs/Header header
geometry_msgs/Twist twist
// Twist 速度（1）geometry_msgs/Vector3 linear 線速度
//          （2）geometry_msgs/Vector3 angular角速度

 

 

 

3.sensor_msgs/NavSatFix

#include <sensor_msgs/NavSatFix.h>

std_msgs/Header header;
//head.stamp：指此測量的ROS時間
//header.frame_id：是衛星接收器報告的參考幀，通常是天線的位置。

sensor_msgs/NavSatStatus status; //# 衛星定位狀態信息
/*int8 STATUS_NO_FIX =  -1        # 無法確定位置
int8 STATUS_FIX =      0        # 未能精准定位
int8 STATUS_SBAS_FIX = 1        # with satellite-based augmentation
int8 STATUS_GBAS_FIX = 2        # with ground-based augmentation
 
int8 status
 
# Bits defining which Global Navigation Satellite System signals were
# used by the receiver.
 
uint16 SERVICE_GPS =     1
uint16 SERVICE_GLONASS = 2
uint16 SERVICE_COMPASS = 4      # includes BeiDou.
uint16 SERVICE_GALILEO = 8
 
uint16 service
*/

float64 latitude;//# 緯度[度]，正赤道以北；
float64 longitude;//# 經度[度]，正數在本初子午線的東部，負的是西。
float64 altitude;//高度# Altitude [m]. Positive is above the WGS 84 ellipsoid
float64[9] position_covariance;  //#位置協方差

uint8 position_covariance_type;
uint8 COVARIANCE_TYPE_UNKNOWN=0
uint8 COVARIANCE_TYPE_APPROXIMATED=1
uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN=2
uint8 COVARIANCE_TYPE_KNOWN=3

 

未完待續。。。