Core ROS2 Message Types

Definitions are sourced from release/install/raisin_ros2_messages/ubuntu/22.04/x86_64/release/messages. Only the public message schemas are documented here.

Messages

builtin_interfaces

• Duration: - Fields:

  • int32 sec

  • uint32 nanosec

• Time: - Fields:

  • int32 sec

  • uint32 nanosec

std_msgs

• Bool: - Fields:

  • bool data

• Byte: - Fields:

  • byte data

• ByteMultiArray: - Fields:

  • MultiArrayLayout layout

  • byte[] data

• Char: - Fields:

  • char data

• ColorRGBA: - Fields:

  • float32 r

  • float32 g

  • float32 b

  • float32 a

• Empty: - Fields:

  • (none)

• Float32: - Fields:

  • float32 data

• Float32MultiArray: - Fields:

  • MultiArrayLayout layout

  • float32[] data

• Float64: - Fields:

  • float64 data

• Float64MultiArray: - Fields:

  • MultiArrayLayout layout

  • float64[] data

• Header: - Fields:

  • builtin_interfaces/Time stamp

  • string frame_id

• Int16: - Fields:

  • int16 data

• Int16MultiArray: - Fields:

  • MultiArrayLayout layout

  • int16[] data

• Int32: - Fields:

  • int32 data

• Int32MultiArray: - Fields:

  • MultiArrayLayout layout

  • int32[] data

• Int64: - Fields:

  • int64 data

• Int64MultiArray: - Fields:

  • MultiArrayLayout layout

  • int64[] data

• Int8: - Fields:

  • int8 data

• Int8MultiArray: - Fields:

  • MultiArrayLayout layout

  • int8[] data

• MultiArrayDimension: - Fields:

  • string label

  • uint32 size

  • uint32 stride

• MultiArrayLayout: - Fields:

  • MultiArrayDimension[] dim

  • uint32 data_offset

• String: - Fields:

  • string data

• UInt16: - Fields:

  • uint16 data

• UInt16MultiArray: - Fields:

  • MultiArrayLayout layout

  • uint16[] data

• UInt32: - Fields:

  • uint32 data

• UInt32MultiArray: - Fields:

  • MultiArrayLayout layout

  • uint32[] data

• UInt64: - Fields:

  • uint64 data

• UInt64MultiArray: - Fields:

  • MultiArrayLayout layout

  • uint64[] data

• UInt8: - Fields:

  • uint8 data

• UInt8MultiArray: - Fields:

  • MultiArrayLayout layout

  • uint8[] data

geometry_msgs

• Accel: - Fields:

  • Vector3 linear

  • Vector3 angular

• AccelStamped: - Fields:

  • std_msgs/Header header

  • Accel accel

• AccelWithCovariance: - Fields:

  • Accel accel

  • float64[36] covariance

• AccelWithCovarianceStamped: - Fields:

  • std_msgs/Header header

  • AccelWithCovariance accel

• Inertia: - Fields:

  • float64 m

  • geometry_msgs/Vector3 com

  • float64 ixx

  • float64 ixy

  • float64 ixz

  • float64 iyy

  • float64 iyz

  • float64 izz

• InertiaStamped: - Fields:

  • std_msgs/Header header

  • Inertia inertia

• Point: - Fields:

  • float64 x

  • float64 y

  • float64 z

• Point32: - Fields:

  • float32 x

  • float32 y

  • float32 z

• PointStamped: - Fields:

  • std_msgs/Header header

  • Point point

• Polygon: - Fields:

  • Point32[] points

• PolygonInstance: - Fields:

  • geometry_msgs/Polygon polygon

  • int64 id

• PolygonInstanceStamped: - Fields:

  • std_msgs/Header header

  • geometry_msgs/PolygonInstance polygon

• PolygonStamped: - Fields:

  • std_msgs/Header header

  • Polygon polygon

• Pose: - Fields:

  • Point position

  • Quaternion orientation

• Pose2D: - Fields:

  • float64 x

  • float64 y

  • float64 theta

• PoseArray: - Fields:

  • std_msgs/Header header

  • Pose[] poses

• PoseStamped: - Fields:

  • std_msgs/Header header

  • Pose pose

• PoseWithCovariance: - Fields:

  • Pose pose

  • float64[36] covariance

• PoseWithCovarianceStamped: - Fields:

  • std_msgs/Header header

  • PoseWithCovariance pose

• Quaternion: - Fields:

  • float64 x

  • float64 y

  • float64 z

  • float64 w

• QuaternionStamped: - Fields:

  • std_msgs/Header header

  • Quaternion quaternion

• Transform: - Fields:

  • Vector3 translation

  • Quaternion rotation

• TransformStamped: - Fields:

  • std_msgs/Header header

  • string child_frame_id

  • Transform transform

• Twist: - Fields:

  • Vector3 linear

  • Vector3 angular

• TwistStamped: - Fields:

  • std_msgs/Header header

  • Twist twist

• TwistWithCovariance: - Fields:

  • Twist twist

  • float64[36] covariance

• TwistWithCovarianceStamped: - Fields:

  • std_msgs/Header header

  • TwistWithCovariance twist

• Vector3: - Fields:

  • float64 x

  • float64 y

  • float64 z

• Vector3Stamped: - Fields:

  • std_msgs/Header header

  • Vector3 vector

• VelocityStamped: - Fields:

  • std_msgs/Header header

  • string body_frame_id

  • string reference_frame_id

  • Twist velocity

• Wrench: - Fields:

  • Vector3 force

  • Vector3 torque

• WrenchStamped: - Fields:

  • std_msgs/Header header

  • Wrench wrench

sensor_msgs

• BatteryState: - Fields:

  • std_msgs/Header header

  • float32 voltage

  • float32 temperature

  • float32 current

  • float32 charge

  • float32 capacity

  • float32 design_capacity

  • float32 percentage

  • uint8 power_supply_status

  • uint8 power_supply_health

  • uint8 power_supply_technology

  • bool present

  • float32[] cell_voltage

  • float32[] cell_temperature

  • string location

  • string serial_number

  • Constants: - uint8 POWER_SUPPLY_STATUS_UNKNOWN=0 - uint8 POWER_SUPPLY_STATUS_CHARGING=1 - uint8 POWER_SUPPLY_STATUS_DISCHARGING=2 - uint8 POWER_SUPPLY_STATUS_NOT_CHARGING=3 - uint8 POWER_SUPPLY_STATUS_FULL=4 - uint8 POWER_SUPPLY_HEALTH_UNKNOWN=0 - uint8 POWER_SUPPLY_HEALTH_GOOD=1 - uint8 POWER_SUPPLY_HEALTH_OVERHEAT=2 - uint8 POWER_SUPPLY_HEALTH_DEAD=3 - uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE=4 - uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE=5 - uint8 POWER_SUPPLY_HEALTH_COLD=6 - uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE=7 - uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE=8 - uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN=0 - uint8 POWER_SUPPLY_TECHNOLOGY_NIMH=1 - uint8 POWER_SUPPLY_TECHNOLOGY_LION=2 - uint8 POWER_SUPPLY_TECHNOLOGY_LIPO=3 - uint8 POWER_SUPPLY_TECHNOLOGY_LIFE=4 - uint8 POWER_SUPPLY_TECHNOLOGY_NICD=5 - uint8 POWER_SUPPLY_TECHNOLOGY_LIMN=6 - uint8 POWER_SUPPLY_TECHNOLOGY_TERNARY=7 - uint8 POWER_SUPPLY_TECHNOLOGY_VRLA=8

• CameraInfo: - Fields:

  • std_msgs/Header header

  • uint32 height

  • uint32 width

  • string distortion_model

  • float64[] d

  • float64[9] k

  • float64[9] r

  • float64[12] p

  • uint32 binning_x

  • uint32 binning_y

  • RegionOfInterest roi

• ChannelFloat32: - Fields:

  • string name

  • float32[] values

• CompressedImage: - Fields:

  • std_msgs/Header header

  • string format

  • uint8[] data

• FluidPressure: - Fields:

  • std_msgs/Header header

  • float64 fluid_pressure

  • float64 variance

• Illuminance: - Fields:

  • std_msgs/Header header

  • float64 illuminance

  • float64 variance

• Image: - Fields:

  • std_msgs/Header header

  • uint32 height

  • uint32 width

  • string encoding

  • uint8 is_bigendian

  • uint32 step

  • uint8[] data

• Imu: - Fields:

  • std_msgs/Header header

  • geometry_msgs/Quaternion orientation

  • float64[9] orientation_covariance

  • geometry_msgs/Vector3 angular_velocity

  • float64[9] angular_velocity_covariance

  • geometry_msgs/Vector3 linear_acceleration

  • float64[9] linear_acceleration_covariance

• JointState: - Fields:

  • std_msgs/Header header

  • string[] name

  • float64[] position

  • float64[] velocity

  • float64[] effort

• Joy: - Fields:

  • std_msgs/Header header

  • float32[] axes

  • int32[] buttons

• JoyFeedback: - Fields:

  • uint8 type

  • uint8 id

  • float32 intensity

  • Constants: - uint8 TYPE_LED=0 - uint8 TYPE_RUMBLE=1 - uint8 TYPE_BUZZER=2

• JoyFeedbackArray: - Fields:

  • JoyFeedback[] array

• LaserEcho: - Fields:

  • float32[] echoes

• LaserScan: - Fields:

  • std_msgs/Header header

  • float32 angle_min

  • float32 angle_max

  • float32 angle_increment

  • float32 time_increment

  • float32 scan_time

  • float32 range_min

  • float32 range_max

  • float32[] ranges

  • float32[] intensities

• MagneticField: - Fields:

  • std_msgs/Header header

  • geometry_msgs/Vector3 magnetic_field

  • float64[9] magnetic_field_covariance

• MultiDOFJointState: - Fields:

  • std_msgs/Header header

  • string[] joint_names

  • geometry_msgs/Transform[] transforms

  • geometry_msgs/Twist[] twist

  • geometry_msgs/Wrench[] wrench

• MultiEchoLaserScan: - Fields:

  • std_msgs/Header header

  • float32 angle_min

  • float32 angle_max

  • float32 angle_increment

  • float32 time_increment

  • float32 scan_time

  • float32 range_min

  • float32 range_max

  • LaserEcho[] ranges

  • LaserEcho[] intensities

• NavSatFix: - Fields:

  • std_msgs/Header header

  • NavSatStatus status

  • float64 latitude

  • float64 longitude

  • float64 altitude

  • float64[9] position_covariance

  • uint8 position_covariance_type

  • Constants: - uint8 COVARIANCE_TYPE_UNKNOWN=0 - uint8 COVARIANCE_TYPE_APPROXIMATED=1 - uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN=2 - uint8 COVARIANCE_TYPE_KNOWN=3

• NavSatStatus: - Fields:

  • int8 status

  • uint16 service

  • Constants: - int8 STATUS_UNKNOWN=-2 - int8 STATUS_NO_FIX=-1 - int8 STATUS_FIX=0 - int8 STATUS_SBAS_FIX=1 - int8 STATUS_GBAS_FIX=2 - uint16 SERVICE_UNKNOWN=0 - uint16 SERVICE_GPS=1 - uint16 SERVICE_GLONASS=2 - uint16 SERVICE_COMPASS=4 - uint16 SERVICE_GALILEO=8

• PointCloud: - Fields:

  • std_msgs/Header header

  • geometry_msgs/Point32[] points

  • ChannelFloat32[] channels

• PointCloud2: - Fields:

  • std_msgs/Header header

  • uint32 height

  • uint32 width

  • PointField[] fields

  • bool is_bigendian

  • uint32 point_step

  • uint32 row_step

  • uint8[] data

  • bool is_dense

• PointField: - Fields:

  • string name

  • uint32 offset

  • uint8 datatype

  • uint32 count

  • Constants: - uint8 INT8=1 - uint8 UINT8=2 - uint8 INT16=3 - uint8 UINT16=4 - uint8 INT32=5 - uint8 UINT32=6 - uint8 FLOAT32=7 - uint8 FLOAT64=8

• Range: - Fields:

  • std_msgs/Header header

  • uint8 radiation_type

  • float32 field_of_view

  • float32 min_range

  • float32 max_range

  • float32 range

  • float32 variance

  • Constants: - uint8 ULTRASOUND=0 - uint8 INFRARED=1

• RegionOfInterest: - Fields:

  • uint32 x_offset

  • uint32 y_offset

  • uint32 height

  • uint32 width

  • bool do_rectify

• RelativeHumidity: - Fields:

  • std_msgs/Header header

  • float64 relative_humidity

  • float64 variance

• Temperature: - Fields:

  • std_msgs/Header header

  • float64 temperature

  • float64 variance

• TimeReference: - Fields:

  • std_msgs/Header header

  • builtin_interfaces/Time time_ref

  • string source

nav_msgs

• GridCells: - Fields:

  • std_msgs/Header header

  • float32 cell_width

  • float32 cell_height

  • geometry_msgs/Point[] cells

• MapMetaData: - Fields:

  • builtin_interfaces/Time map_load_time

  • float32 resolution

  • uint32 width

  • uint32 height

  • geometry_msgs/Pose origin

• OccupancyGrid: - Fields:

  • std_msgs/Header header

  • MapMetaData info

  • int8[] data

• Odometry: - Fields:

  • std_msgs/Header header

  • string child_frame_id

  • geometry_msgs/PoseWithCovariance pose

  • geometry_msgs/TwistWithCovariance twist

• Path: - Fields:

  • std_msgs/Header header

  • geometry_msgs/PoseStamped[] poses

trajectory_msgs

• JointTrajectory: - Fields:

  • std_msgs/Header header

  • string[] joint_names

  • JointTrajectoryPoint[] points

• JointTrajectoryPoint: - Fields:

  • float64[] positions

  • float64[] velocities

  • float64[] accelerations

  • float64[] effort

  • builtin_interfaces/Duration time_from_start

• MultiDOFJointTrajectory: - Fields:

  • std_msgs/Header header

  • string[] joint_names

  • MultiDOFJointTrajectoryPoint[] points

• MultiDOFJointTrajectoryPoint: - Fields:

  • geometry_msgs/Transform[] transforms

  • geometry_msgs/Twist[] velocities

  • geometry_msgs/Twist[] accelerations

  • builtin_interfaces/Duration time_from_start

tf2_msgs

• TF2Error: - Fields:

  • uint8 error

  • string error_string

  • Constants: - uint8 NO_ERROR=0 - uint8 LOOKUP_ERROR=1 - uint8 CONNECTIVITY_ERROR=2 - uint8 EXTRAPOLATION_ERROR=3 - uint8 INVALID_ARGUMENT_ERROR=4 - uint8 TIMEOUT_ERROR=5 - uint8 TRANSFORM_ERROR=6

• TFMessage: - Fields:

  • geometry_msgs/TransformStamped[] transforms

unique_identifier_msgs

• UUID: - Fields:

  • uint8[16] uuid

rosgraph_msgs

• Clock: - Fields:

  • builtin_interfaces/Time clock

Services

std_srvs

• Empty: - Request fields:

  • (none)

  • Response fields: - (none)

• SetBool: - Request fields:

  • bool data

  • Response fields: - bool success - string message

• Trigger: - Request fields:

  • (none)

  • Response fields: - bool success - string message

sensor_msgs

• SetCameraInfo: - Request fields:

  • sensor_msgs/CameraInfo camera_info

  • Response fields: - bool success - string status_message

nav_msgs

• GetMap: - Request fields:

  • (none)

  • Response fields: - OccupancyGrid map

• GetPlan: - Request fields:

  • geometry_msgs/PoseStamped start

  • geometry_msgs/PoseStamped goal

  • float32 tolerance

  • Response fields: - Path plan

• LoadMap: - Request fields:

  • string map_url

  • Response fields: - nav_msgs/OccupancyGrid map - uint8 result

  • Response constants: - uint8 RESULT_SUCCESS=0 - uint8 RESULT_MAP_DOES_NOT_EXIST=1 - uint8 RESULT_INVALID_MAP_DATA=2 - uint8 RESULT_INVALID_MAP_METADATA=3 - uint8 RESULT_UNDEFINED_FAILURE=255

• SetMap: - Request fields:

  • nav_msgs/OccupancyGrid map

  • geometry_msgs/PoseWithCovarianceStamped initial_pose

  • Response fields: - bool success

tf2_msgs

• FrameGraph: - Request fields:

  • (none)

  • Response fields: - string frame_yaml