ros_gz_bridge
1.0
Python API
ros_gz_bridge package
Subpackages
ros_gz_bridge.actions package
Submodules
ros_gz_bridge.mappings module
Module contents
C++ API
Class Hierarchy
File Hierarchy
Full C++ API
Namespaces
Namespace rclcpp
Namespace ros_gz_bridge
Classes and Structs
Struct BridgeConfig
Class RosGzBridge
Enums
Enum BridgeDirection
Functions
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Actuators&, actuator_msgs::msg::Actuators&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Time&, builtin_interfaces::msg::Time&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Quaternion&, geometry_msgs::msg::Quaternion&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Vector3d&, geometry_msgs::msg::Vector3&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Vector3d&, geometry_msgs::msg::Point&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Pose&, geometry_msgs::msg::Pose&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Pose_V&, geometry_msgs::msg::PoseArray&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::PoseWithCovariance&, geometry_msgs::msg::PoseWithCovarianceStamped&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::PoseWithCovariance&, geometry_msgs::msg::PoseWithCovariance&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Pose&, geometry_msgs::msg::PoseStamped&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Pose&, geometry_msgs::msg::Transform&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Pose&, geometry_msgs::msg::TransformStamped&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Twist&, geometry_msgs::msg::Twist&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Twist&, geometry_msgs::msg::TwistStamped&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::TwistWithCovariance&, geometry_msgs::msg::TwistWithCovariance&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::TwistWithCovariance&, geometry_msgs::msg::TwistWithCovarianceStamped&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Wrench&, geometry_msgs::msg::Wrench&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Wrench&, geometry_msgs::msg::WrenchStamped&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::NavSat&, gps_msgs::msg::GPSFix&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Odometry&, nav_msgs::msg::Odometry&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::OdometryWithCovariance&, nav_msgs::msg::Odometry&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Any&, rcl_interfaces::msg::ParameterValue&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::JointWrench&, ros_gz_interfaces::msg::JointWrench&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Altimeter&, ros_gz_interfaces::msg::Altimeter&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Entity&, ros_gz_interfaces::msg::Entity&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::EntityWrench&, ros_gz_interfaces::msg::EntityWrench&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Contact&, ros_gz_interfaces::msg::Contact&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Contacts&, ros_gz_interfaces::msg::Contacts&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Dataframe&, ros_gz_interfaces::msg::Dataframe&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::GUICamera&, ros_gz_interfaces::msg::GuiCamera&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Light&, ros_gz_interfaces::msg::Light&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::MaterialColor&, ros_gz_interfaces::msg::MaterialColor&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::SensorNoise&, ros_gz_interfaces::msg::SensorNoise&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::StringMsg_V&, ros_gz_interfaces::msg::StringVec&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Param&, ros_gz_interfaces::msg::ParamVec&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Param_V&, ros_gz_interfaces::msg::ParamVec&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::TrackVisual&, ros_gz_interfaces::msg::TrackVisual&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::VideoRecord&, ros_gz_interfaces::msg::VideoRecord&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::WorldControl&, ros_gz_interfaces::msg::WorldControl&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::WorldReset&, ros_gz_interfaces::msg::WorldReset&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Float_V&, ros_gz_interfaces::msg::Float32Array&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Clock&, rosgraph_msgs::msg::Clock&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Joy&, sensor_msgs::msg::Joy&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::FluidPressure&, sensor_msgs::msg::FluidPressure&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Image&, sensor_msgs::msg::Image&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::CameraInfo&, sensor_msgs::msg::CameraInfo&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::IMU&, sensor_msgs::msg::Imu&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Model&, sensor_msgs::msg::JointState&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::LaserScan&, sensor_msgs::msg::LaserScan&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Magnetometer&, sensor_msgs::msg::MagneticField&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::NavSat&, sensor_msgs::msg::NavSatFix&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::PointCloudPacked&, sensor_msgs::msg::PointCloud2&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::BatteryState&, sensor_msgs::msg::BatteryState&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Boolean&, std_msgs::msg::Bool&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Color&, std_msgs::msg::ColorRGBA&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Empty&, std_msgs::msg::Empty&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::UInt32&, std_msgs::msg::UInt32&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Float&, std_msgs::msg::Float32&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Double&, std_msgs::msg::Float64&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Header&, std_msgs::msg::Header&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Int32&, std_msgs::msg::Int32&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::StringMsg&, std_msgs::msg::String&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::Pose_V&, tf2_msgs::msg::TFMessage&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::JointTrajectoryPoint&, trajectory_msgs::msg::JointTrajectoryPoint&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::JointTrajectory&, trajectory_msgs::msg::JointTrajectory&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::AnnotatedAxisAligned2DBox&, vision_msgs::msg::Detection2D&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::AnnotatedAxisAligned2DBox_V&, vision_msgs::msg::Detection2DArray&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::AnnotatedOriented3DBox&, vision_msgs::msg::Detection3D&)
Specialized Template Function ros_gz_bridge::convert_gz_to_ros(const gz::msgs::AnnotatedOriented3DBox_V&, vision_msgs::msg::Detection3DArray&)
Template Function ros_gz_bridge::convert_gz_to_ros(const GZ_T&, ROS_T&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const actuator_msgs::msg::Actuators&, gz::msgs::Actuators&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const builtin_interfaces::msg::Time&, gz::msgs::Time&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::Quaternion&, gz::msgs::Quaternion&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::Vector3&, gz::msgs::Vector3d&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::Point&, gz::msgs::Vector3d&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::Pose&, gz::msgs::Pose&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::PoseArray&, gz::msgs::Pose_V&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::PoseWithCovariance&, gz::msgs::PoseWithCovariance&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::PoseWithCovarianceStamped&, gz::msgs::PoseWithCovariance&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::PoseStamped&, gz::msgs::Pose&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::Transform&, gz::msgs::Pose&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::TransformStamped&, gz::msgs::Pose&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::Twist&, gz::msgs::Twist&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::TwistStamped&, gz::msgs::Twist&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::TwistWithCovariance&, gz::msgs::TwistWithCovariance&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::TwistWithCovarianceStamped&, gz::msgs::TwistWithCovariance&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::Wrench&, gz::msgs::Wrench&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const geometry_msgs::msg::WrenchStamped&, gz::msgs::Wrench&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const gps_msgs::msg::GPSFix&, gz::msgs::NavSat&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const nav_msgs::msg::Odometry&, gz::msgs::Odometry&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const nav_msgs::msg::Odometry&, gz::msgs::OdometryWithCovariance&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const rcl_interfaces::msg::ParameterValue&, gz::msgs::Any&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::JointWrench&, gz::msgs::JointWrench&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::Altimeter&, gz::msgs::Altimeter&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::Entity&, gz::msgs::Entity&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::EntityWrench&, gz::msgs::EntityWrench&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::Contact&, gz::msgs::Contact&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::Contacts&, gz::msgs::Contacts&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::Dataframe&, gz::msgs::Dataframe&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::GuiCamera&, gz::msgs::GUICamera&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::Light&, gz::msgs::Light&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::MaterialColor&, gz::msgs::MaterialColor&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::SensorNoise&, gz::msgs::SensorNoise&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::StringVec&, gz::msgs::StringMsg_V&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::ParamVec&, gz::msgs::Param&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::ParamVec&, gz::msgs::Param_V&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::TrackVisual&, gz::msgs::TrackVisual&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::VideoRecord&, gz::msgs::VideoRecord&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::WorldControl&, gz::msgs::WorldControl&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::WorldReset&, gz::msgs::WorldReset&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const ros_gz_interfaces::msg::Float32Array&, gz::msgs::Float_V&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const rosgraph_msgs::msg::Clock&, gz::msgs::Clock&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::Joy&, gz::msgs::Joy&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::FluidPressure&, gz::msgs::FluidPressure&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::Image&, gz::msgs::Image&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::CameraInfo&, gz::msgs::CameraInfo&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::Imu&, gz::msgs::IMU&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::JointState&, gz::msgs::Model&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::LaserScan&, gz::msgs::LaserScan&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::MagneticField&, gz::msgs::Magnetometer&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::NavSatFix&, gz::msgs::NavSat&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::PointCloud2&, gz::msgs::PointCloudPacked&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const sensor_msgs::msg::BatteryState&, gz::msgs::BatteryState&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::Bool&, gz::msgs::Boolean&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::ColorRGBA&, gz::msgs::Color&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::Empty&, gz::msgs::Empty&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::UInt32&, gz::msgs::UInt32&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::Float32&, gz::msgs::Float&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::Float64&, gz::msgs::Double&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::Header&, gz::msgs::Header&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::Int32&, gz::msgs::Int32&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const std_msgs::msg::String&, gz::msgs::StringMsg&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const tf2_msgs::msg::TFMessage&, gz::msgs::Pose_V&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const trajectory_msgs::msg::JointTrajectoryPoint&, gz::msgs::JointTrajectoryPoint&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const trajectory_msgs::msg::JointTrajectory&, gz::msgs::JointTrajectory&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const vision_msgs::msg::Detection2D&, gz::msgs::AnnotatedAxisAligned2DBox&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const vision_msgs::msg::Detection2DArray&, gz::msgs::AnnotatedAxisAligned2DBox_V&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const vision_msgs::msg::Detection3D&, gz::msgs::AnnotatedOriented3DBox&)
Specialized Template Function ros_gz_bridge::convert_ros_to_gz(const vision_msgs::msg::Detection3DArray&, gz::msgs::AnnotatedOriented3DBox_V&)
Template Function ros_gz_bridge::convert_ros_to_gz(const ROS_T&, GZ_T&)
Function ros_gz_bridge::readFromYamlFile
Function ros_gz_bridge::readFromYamlString
Variables
Variable ros_gz_bridge::kDefaultDirection
Variable ros_gz_bridge::kDefaultLazy
Variable ros_gz_bridge::kDefaultPublisherQueue
Variable ros_gz_bridge::kDefaultSubscriberQueue
Directories
Directory include
Directory ros_gz_bridge
Directory convert
Files
File actuator_msgs.hpp
File bridge_config.hpp
File builtin_interfaces.hpp
File convert.hpp
File convert_decl.hpp
File geometry_msgs.hpp
File gps_msgs.hpp
File nav_msgs.hpp
File rcl_interfaces.hpp
File ros_gz_bridge.hpp
File ros_gz_interfaces.hpp
File rosgraph_msgs.hpp
File sensor_msgs.hpp
File std_msgs.hpp
File tf2_msgs.hpp
File trajectory_msgs.hpp
File vision_msgs.hpp
Standard Documents
CHANGELOG
Changelog for package ros_gz_bridge
1.0.4 (2024-08-29)
1.0.3 (2024-07-22)
1.0.2 (2024-07-03)
1.0.0 (2024-04-24)
0.246.0 (2023-08-31)
0.245.0 (2022-10-12)
0.244.10 (2023-05-03)
0.244.9 (2022-11-03)
0.244.8 (2022-10-28)
0.244.7 (2022-10-12)
0.244.6 (2022-09-14)
0.244.5 (2022-09-12)
0.244.3 (2022-05-19)
0.244.2 (2022-04-25)
0.244.1 (2022-01-04)
0.244.0 (2021-12-30)
0.233.2 (2021-07-20)
0.233.1 (2021-04-16)
0.221.1 (2020-08-19)
0.221.0 (2020-07-23)
0.7.0 (2019-08-15)
0.6.3 (2019-08-04)
0.6.2 (2019-08-04)
0.6.1 (2019-08-04)
0.6.0 (2019-08-02)
0.4.0 (2019-07-16)
0.3.1 (2019-07-01)
0.3.0 (2019-06-28)
0.2.2 (2019-05-20)
0.2.1 (2019-05-11)
0.2.0 (2019-05-09)
0.1.0 (2019-03-20)
PACKAGE
README
Bridge communication between ROS and Gazebo
Example 1a: Gazebo Transport talker and ROS 2 listener
Example 1b: ROS 2 talker and Gazebo Transport listener
Example 2: Run the bridge and exchange images
Example 3: Static bridge
Example 4: Service bridge
Example 5: Configuring the Bridge via YAML
Example 6: Using ROS namespace with the Bridge
API
Index
ros_gz_bridge
ros_gz_bridge
ros_gz_bridge package
ros_gz_bridge.mappings module
View page source
ros_gz_bridge.mappings module
class
ros_gz_bridge.mappings.
Mapping
(
ros_type
,
gz_type
)
Bases:
tuple
gz_type
Alias for field number 1
ros_type
Alias for field number 0