mapping_msgs/CollisionObject Documentation

File: mapping_msgs/CollisionObject.msg

# a header, used for interpreting the poses
Header header

# the id of the object
string id

#This contains what is to be done with the object
CollisionObjectOperation operation

#the shapes associated with the object
geometric_shapes_msgs/Shape[] shapes

#the poses associated with the shapes - will be transformed using the header
geometry_msgs/Pose[] poses

Expanded Definition

Header header
    uint32 seq
    time stamp
    string frame_id
string id
CollisionObjectOperation operation
    byte ADD=0
    byte REMOVE=1
    byte DETACH_AND_ADD_AS_OBJECT=2
    byte ATTACH_AND_REMOVE_AS_OBJECT=3
    byte operation
geometric_shapes_msgs/Shape[] shapes
    byte SPHERE=0
    byte BOX=1
    byte CYLINDER=2
    byte MESH=3
    byte type
    float64[] dimensions
    int32[] triangles
    geometry_msgs/Point[] vertices
        float64 x
        float64 y
        float64 z
geometry_msgs/Pose[] poses
    geometry_msgs/Point position
        float64 x
        float64 y
        float64 z
    geometry_msgs/Quaternion orientation
        float64 x
        float64 y
        float64 z
        float64 w

mapping_msgs/CollisionObject Message

File: mapping_msgs/CollisionObject.msg

Expanded Definition