VelocityWithCovarianceStampedPublisher QML Type

Publishes geometry_msgs::msg::VelocityWithCovarianceStamped messages — A timestamped velocity of a body whose frame is 'body_frame_id', measured relative to the reference frame 'reference_frame_id', with the velocity and covariance both expressed in the basis of the observation frame 'header.frame_id'. More...

• List of all members, including inherited members

Properties

• bodyFrameId : string
• header : header
• referenceFrameId : string
• velocity : twistWithCovariance

Methods

• void publish(velocityWithCovarianceStamped msg)

Detailed Description

- If 'body_frame_id' and 'header.frame_id' are identical, the velocity and covariance are expressed in the body's own basis. This is functionally equivalent to the body-twist convention used by 'geometry_msgs/TwistStamped'.

This message is the covariance-bearing analogue of 'geometry_msgs/VelocityStamped'.

VelocityWithCovarianceStampedPublisher publishes velocityWithCovarianceStamped values to a ROS 2 topic. Set the topic and node properties, then call publish() to send messages.

See also VelocityWithCovarianceStampedSubscriber and velocityWithCovarianceStamped.

Property Documentation

bodyFrameId : string

The bodyFrameId field value included in the next publish. Setting this property emits bodyFrameIdChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

header : header

The header field value included in the next publish. Setting this property emits headerChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

referenceFrameId : string

The referenceFrameId field value included in the next publish. Setting this property emits referenceFrameIdChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

velocity : twistWithCovariance

The velocity field value included in the next publish. Setting this property emits velocityChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

Method Documentation

void publish(velocityWithCovarianceStamped msg)

Publishes velocityWithCovarianceStamped msg to the ROS 2 topic set by the topic property. Does nothing if the publisher is not connected.