nav_msgs.flex

// ROS is available under the BSD license Copyright (C) 2009, Willow Garage, Inc.  
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module ROS::Common::v1.nav_msgs

import ROS::Common::v1.builtin (TimePrim)
import ROS::Common::v1.geometry_msgs (Point, Pose, PoseStamped, PoseWithCovariance, TwistWithCovariance)
import ROS::Common::v1.std_msgs (Header)


// an array of cells in a 2D grid
message struct GridCells {
    header: Header;
    cell_width: float32;
    cell_height: float32;
    cells: Point[];
}

// This hold basic information about the characterists of the OccupancyGrid The time at which the map was
// loaded
message struct MapMetaData {
    map_load_time: TimePrim;
    // The map resolution [m/cell]
    resolution: float32;
    // Map width [cells]
    width: uint32;
    // Map height [cells]
    height: uint32;
    // The origin of the map [m, m, rad]. This is the real-world pose of the cell (0,0) in the map.
    origin: Pose;
}

// This represents a 2-D grid map, in which each cell represents the probability of occupancy.
message struct OccupancyGrid {
    header: Header;
    // MetaData for the map
    info: MapMetaData;
    // The map data, in row-major order, starting with (0,0). Occupancy probabilities are in the range [0,100].
    // Unknown is -1.
    data: int8[];
}

// This represents an estimate of a position and velocity in free space. The pose in this message should be
// specified in the coordinate frame given by header.frame_id. The twist in this message should be specified
// in the coordinate frame given by the child_frame_id
message struct Odometry {
    header: Header;
    child_frame_id: string;
    pose: PoseWithCovariance;
    twist: TwistWithCovariance;
}

// An array of poses that represents a Path for a robot to follow
message struct Path {
    header: Header;
    poses: PoseStamped[];
}