Welcome to the documentation for sensor_msgs
- C++ API
- Message Definitions
- BatteryState
- CameraInfo
- ChannelFloat32
- CompressedImage
- FluidPressure
- Illuminance
- Image
- Imu
- JointState
- Joy
- JoyFeedback
- JoyFeedbackArray
- LaserEcho
- LaserScan
- MagneticField
- MultiDOFJointState
- MultiEchoLaserScan
- NavSatFix
- NavSatStatus
- PointCloud
- PointCloud2
- PointField
- Range
- RegionOfInterest
- RelativeHumidity
- Temperature
- TimeReference
- Service Definitions
- Standard Documents
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.