geometry_msgs::PoseStamped

geometry_msgs::PoseStamped

#A Pose with reference coordinate frame and timestamp.

std_msgs/Header header
Pose pose

std_msgs::Header

#Standard metadata for higher-level stamped data types.

#This is generally used to communicate timestamped data

#in a particular coordinate frame.

#Two-integer timestamp that is expressed as seconds and nanoseconds.

builtin_interfaces/Time stamp

#Transform frame with which this data is associated.

string frame_id

geometry_msgs::Pose

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

Point position
Quaternion orientation

geometry_msgs::Point

#This contains the position of a point in free space

float64 x
float64 y
float64 z

geometry_msgs::Quaternion

#This represents an orientation in free space in quaternion form.

float64 x 0
float64 y 0
float64 z 0
float64 w 1