# geometry_msgs

A package containing some geometry related message definitions.

- Message Definitions
- Accel
- AccelStamped
- AccelWithCovariance
- AccelWithCovarianceStamped
- Inertia
- InertiaStamped
- Point
- Point32
- PointStamped
- Polygon
- PolygonStamped
- Pose
- Pose2D
- PoseArray
- PoseStamped
- PoseWithCovariance
- PoseWithCovarianceStamped
- Quaternion
- QuaternionStamped
- Transform
- TransformStamped
- Twist
- TwistStamped
- TwistWithCovariance
- TwistWithCovarianceStamped
- Vector3
- Vector3Stamped
- VelocityStamped
- Wrench
- WrenchStamped

- Standard Documents

# README

## geometry_msgs

This package provides messages for common geometric primitives such as points, vectors, and poses. These primitives are designed to provide a common data type and facilitate interoperability throughout the system.

For more information about ROS 2 interfaces, see docs.ros.org.

### Messages (.msg)

Accel: Expresses acceleration in free space broken into its linear and angular parts.

AccelStamped: An accel with reference coordinate frame and timestamp.

AccelWithCovariance: Acceleration in free space with uncertainty.

AccelWithCovarianceStamped: An estimated accel with reference coordinate frame and timestamp.

Inertia: Expresses the inertial properties of a link.

InertiaStamped: An Inertia with reference coordinate frame and timestamp.

Point32: The position of a 3-dimensional point in free space, with 32-bit fields.

Point: The position of a 3-dimensional point in free space.

PointStamped: Point with reference coordinate frame and timestamp.

Polygon: A specification of a polygon where the first and last points are assumed to be connected.

PolygonStamped: A Polygon with reference coordinate frame and timestamp.

Pose2D:

**Deprecated as of Foxy and will potentially be removed in any following release.**PoseArray: An array of poses with a header for global reference.

Pose: A representation of pose in free space, composed of position and orientation.

PoseStamped: A Pose with reference coordinate frame and timestamp.

PoseWithCovariance: A pose in free space with uncertainty.

PoseWithCovarianceStamped: An estimated pose with a reference coordinate frame and timestamp.

Quaternion: An orientation in free space in quaternion form.

QuaternionStamped: An orientation with reference coordinate frame and timestamp.

Transform: The transform between two coordinate frames in free space.

TransformStamped: A transform from coordinate frame header.frame_id to the coordinate frame child_frame_id.

Twist: Velocity in 3-dimensional free space broken into its linear and angular parts.

TwistStamped: A twist with reference coordinate frame and timestamp.

TwistWithCovariance: Velocity in 3-dimensional free space with uncertainty.

TwistWithCovarianceStamped: An estimated twist with reference coordinate frame and timestamp.

Vector3: Represents a vector in 3-dimensional free space.

Vector3Stamped: Represents a Vector3 with reference coordinate frame and timestamp.

Wrench: Represents force in free space, separated into its linear and angular parts.

WrenchStamped: A wrench with reference coordinate frame and timestamp.

### Quality Declaration

This package claims to be in the **Quality Level 1** category, see the Quality Declaration for more details.