README

sensor_msgs

This package provides many messages and services relating to sensor devices.

Many of these messages were ported from ROS 1 and a lot of still-relevant documentation can be found through the ROS 1 sensor_msgs wiki.

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

sensor_msgs c++ API

This package provides some common C++ functionality relating to manipulating a couple of particular sensor_msgs messages.

• fill_image.hpp: Fill a Image message from type-erased data pointer.

• image_encodings.hpp: Definitions and functionality relating to image encodings.

• point_cloud_conversion.hpp: Functionality for converting between the deprecated PointCloud and PointCloud2 messages.

• point_cloud2_iterator.hpp: Tools for modifying and parsing PointCloud2 messages.

• point_field_conversion.hpp: A type to enum mapping for the different PointField types, and methods to read and write in a PointCloud2 buffer for the different PointField types.

Messages (.msg)

• BatteryState: Describes the power state of the battery.

• CameraInfo: Meta information for a camera.

• ChannelFloat32: Holds optional data associated with each point in a PointCloud message.

• CompressedImage: A compressed image.

• FluidPressure: Single pressure reading for fluids (air, water, etc) like atmospheric and barometric pressures.

• Illuminance: Single photometric illuminance measurement.

• Image: An uncompressed image.

• Imu: Holds data from an IMU (Inertial Measurement Unit).

• JointState: Holds data to describe the state of a set of torque controlled joints.

• JoyFeedbackArray: An array of JoyFeedback messages.

• JoyFeedback: Describes user feedback in a joystick, like an LED, rumble pad, or buzzer.

• Joy: Reports the state of a joystick’s axes and buttons.

• LaserEcho: A submessage of MultiEchoLaserScan and is not intended to be used separately.

• LaserScan: Single scan from a planar laser range-finder.

• MagneticField: Measurement of the Magnetic Field vector at a specific location.

• MultiDOFJointState: Representation of state for joints with multiple degrees of freedom, following the structure of JointState.

• MultiEchoLaserScan: Single scan from a multi-echo planar laser range-finder.

• NavSatFix: Navigation Satellite fix for any Global Navigation Satellite System.

• NavSatStatus: Navigation Satellite fix status for any Global Navigation Satellite System.

• PointCloud2: Holds a collection of N-dimensional points, which may contain additional information such as normals, intensity, etc.

• PointCloud: THIS MESSAGE IS DEPRECATED AS OF FOXY, use PointCloud2 instead

• PointField: Holds the description of one point entry in the PointCloud2 message format.

• Range: Single range reading from an active ranger that emits energy and reports one range reading that is valid along an arc at the distance measured.

• RegionOfInterest: Used to specify a region of interest within an image.

• RelativeHumidity: A single reading from a relative humidity sensor.

• Temperature: A single temperature reading.

• TimeReference: Measurement from an external time source not actively synchronized with the system clock.

Services (.srv)

• SetCameraInfo: Request that a camera stores the given CameraInfo as that camera’s calibration information.

Quality Declaration

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