Namespace ZO.ROS.MessageTypes.Sensor
Classes
CameraInfoMessage
This message defines meta information for a camera. It should be in a camera namespace on topic "camera_info" and accompanied by up to five image topics named:
image_raw - raw data from the camera driver, possibly Bayer encoded image - monochrome, distorted image_color - color, distorted image_rect - monochrome, rectified image_rect_color - color, rectified
The image_pipeline contains packages (image_proc, stereo_image_proc) for producing the four processed image topics from image_raw and camera_info. The meaning of the camera parameters are described in detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.
The image_geometry package provides a user-friendly interface to common operations using this meta information. If you want to, e.g., project a 3d point into image coordinates, we strongly recommend using image_geometry.
/// If the camera is uncalibrated, the matrices D, K, R, P should be left
zeroed out. In particular, clients may assume that K[0] == 0.0
indicates an uncalibrated camera.
ImageMessage
This message contains an uncompressed image (0, 0) is at top-left corner of image
ImuMessage
This is a message to hold data from an IMU (Inertial Measurement Unit)
Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec
If the covariance of the measurement is known, it should be filled in (if all you know is the variance of each measurement, e.g. from the datasheet, just put those along the diagonal) A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the data a covariance will have to be assumed or gotten from some other source
If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1 If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.
JointStateMessage
This is a message that holds data to describe the state of a set of torque controlled joints.
The state of each joint (revolute or prismatic) is defined by:
- the position of the joint (rad or m),
- the velocity of the joint (rad/s or m/s) and
- the effort that is applied in the joint (Nm or N).
Each joint is uniquely identified by its name The header specifies the time at which the joint states were recorded. All the joint states in one message have to be recorded at the same time.
This message consists of a multiple arrays, one for each part of the joint state. The goal is to make each of the fields optional. When e.g. your joints have no effort associated with them, you can leave the effort array empty.
All arrays in this message should have the same size, or be empty. This is the only way to uniquely associate the joint name with the correct states.
LaserScanMessage
Single scan from a planar laser range-finder
If you have another ranging device with different behavior (e.g. a sonar
array), please find or create a different message, since applications
will make fairly laser-specific assumptions about this data
RegionOfInterestMessage
This message is used to specify a region of interest within an image.
When used to specify the ROI setting of the camera when the image was
taken, the height and width fields should either match the height and
width fields for the associated image; or height = width = 0
indicates that the full resolution image was captured.