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MessageType

Message type for grid to enable message passing and consistency

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MessageType

Generic class for any message type.
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Position

Inherits from: MessageType A class to represent the position of the robot

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Position

A class to represent the position of the robot
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required
x-coordinate value (meters)
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required
y-coordinate value (meters)
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required
z-coordinate value (meters)
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Orientation

Inherits from: MessageType A class to represent the orientation as a quaternion

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Orientation

Initialize orientation as a unit quaternion
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required
x component of quaternion
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required
y component of quaternion
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required
z component of quaternion
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required
w component of quaternion (scalar)
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from_euler

Create orientation from Euler angles (roll, pitch, yaw)
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required
roll angle around x-axis (radians)
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required
pitch angle around y-axis (radians)
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required
yaw angle around z-axis (radians)
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Orientationquaternion representation of the orientation

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Examples

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to_euler

Convert quaternion to Euler angles (roll, pitch, yaw)
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Euler angles in radians in (x, y, z) order

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to_list

Convert orientation to a list of floats
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List of floats representing the orientation

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Pose

Inherits from: MessageType A class to represent the pose of the robot (Position and Orientation)

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Pose

A class to represent the pose of the robot (Position and Orientation)
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required
PositionThe x, y, z position of the robot
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required
OrientationThe orientation as a quaternion
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Velocity

Inherits from: MessageType A class to represent the velocity of the robot in NED frame

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Velocity

A class to represent the velocity of the robot in NED frame
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required
x-axis velocity (m/s)
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required
y-axis velocity (m/s)
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required
z-axis velocity (m/s)
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Image

Inherits from: MessageType A class to represent an image

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Image

A class to represent an image
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required
image data
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the parameters of image capture
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required
type of the image (‘rgb’, ‘depth’, ‘segmentation’)
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Twist

Inherits from: MessageType A class to represent angular and linear velocity in 3D space.

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Twist

Initialize a Twist message
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required
PositionThe linear velocity in x, y, z
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required
PositionThe angular velocity in x, y, z
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to_dict

Convert to ROS message dictionary format
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Dictionary matching ROS message format

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PointCloud

Inherits from: MessageType A class to represent a point cloud

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PointCloud

Initialize a point cloud object
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required
Array of points with shape (N, 3+)
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List of field names. Defaults to [‘x’, ‘y’, ‘z’]
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HeightMap

Inherits from: MessageType A class to represent a height map from LiDAR data

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HeightMap

Initialize the height map
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required
2D array of height values
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required
meters per cell
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required
Positionposition of the height map origin in world coordinates

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process

Process the height map to return coordinates accounting for resolution and origin
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Tuple containing: np.ndarray: X coordinates grid np.ndarray: Y coordinates grid np.ndarray: Height values