From 800e24ba6fbdcf667601f69096905e0345082c0e Mon Sep 17 00:00:00 2001 From: Maximilian Leitenstern Date: Thu, 16 Apr 2026 09:54:52 +0200 Subject: [PATCH 1/3] add missing msgs for PointWithCovariance Signed-off-by: Maximilian Leitenstern --- geometry_msgs/CMakeLists.txt | 5 +++++ geometry_msgs/README.md | 5 +++++ geometry_msgs/msg/Point32Stamped.msg | 9 +++++++++ geometry_msgs/msg/Point32WithCovariance.msg | 15 +++++++++++++++ .../msg/Point32WithCovarianceStamped.msg | 9 +++++++++ geometry_msgs/msg/PointWithCovariance.msg | 8 ++++++++ geometry_msgs/msg/PointWithCovarianceStamped.msg | 4 ++++ 7 files changed, 55 insertions(+) create mode 100644 geometry_msgs/msg/Point32Stamped.msg create mode 100644 geometry_msgs/msg/Point32WithCovariance.msg create mode 100644 geometry_msgs/msg/Point32WithCovarianceStamped.msg create mode 100644 geometry_msgs/msg/PointWithCovariance.msg create mode 100644 geometry_msgs/msg/PointWithCovarianceStamped.msg diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt index 6d69d3af..21b838e3 100644 --- a/geometry_msgs/CMakeLists.txt +++ b/geometry_msgs/CMakeLists.txt @@ -24,7 +24,12 @@ set(msg_files "msg/InertiaStamped.msg" "msg/Point.msg" "msg/Point32.msg" + "msg/Point32Stamped.msg" + "msg/Point32WithCovariance.msg" + "msg/Point32WithCovarianceStamped.msg" "msg/PointStamped.msg" + "msg/PointWithCovariance.msg" + "msg/PointWithCovarianceStamped.msg" "msg/Polygon.msg" "msg/PolygonInstance.msg" "msg/PolygonInstanceStamped.msg" diff --git a/geometry_msgs/README.md b/geometry_msgs/README.md index 3d6193a6..3907f51d 100644 --- a/geometry_msgs/README.md +++ b/geometry_msgs/README.md @@ -12,8 +12,13 @@ For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros * [Inertia](msg/Inertia.msg): Expresses the inertial properties of a link. * [InertiaStamped](msg/InertiaStamped.msg): An Inertia with reference coordinate frame and timestamp. * [Point32](msg/Point32.msg): The position of a 3-dimensional point in free space, with 32-bit fields. +* [Point32Stamped](msg/Point32Stamped.msg): Point with reference coordinate frame and timestamp, with 32-bit fields. +* [Point32WithCovariance](msg/Point32WithCovariance.msg): The position of a point in free space with uncertainty, with 32-bit fields. +* [Point32WithCovarianceStamped](msg/Point32WithCovarianceStamped.msg): An estimated point with reference coordinate frame and timestamp, with 32-bit fields. * [Point](msg/Point.msg): The position of a 3-dimensional point in free space. * [PointStamped](msg/PointStamped.msg): Point with reference coordinate frame and timestamp. +* [PointWithCovariance](msg/PointWithCovariance.msg): The position of a point in free space with uncertainty. +* [PointWithCovarianceStamped](msg/PointWithCovarianceStamped.msg): An estimated point with reference coordinate frame and timestamp. * [Polygon](msg/Polygon.msg): A specification of a polygon where the first and last points are assumed to be connected. * [PolygonInstance](msg/PolygonInstance.msg): A specification of a polygon where the first and last points are assumed to be connected. Contains an identification field for disambiguation of multiple instances. * [PolygonInstanceStamped](msg/PolygonInstanceStamped.msg): A Polygon with reference coordinate frame and timestamp. Contains an identification field for disambiguation of multiple instances. diff --git a/geometry_msgs/msg/Point32Stamped.msg b/geometry_msgs/msg/Point32Stamped.msg new file mode 100644 index 00000000..b5aaf087 --- /dev/null +++ b/geometry_msgs/msg/Point32Stamped.msg @@ -0,0 +1,9 @@ +# This represents a Point with reference coordinate frame and timestamp +# (with 32 bits of precision). +# It is recommended to use PointStamped wherever possible instead of +# Point32Stamped. +# +# This recommendation is to promote interoperability. + +std_msgs/Header header +Point32 point diff --git a/geometry_msgs/msg/Point32WithCovariance.msg b/geometry_msgs/msg/Point32WithCovariance.msg new file mode 100644 index 00000000..bbe0263d --- /dev/null +++ b/geometry_msgs/msg/Point32WithCovariance.msg @@ -0,0 +1,15 @@ +# This represents a point in free space with uncertainty (with 32 bits of precision). +# It is recommended to use PointWithCovariance wherever possible instead of +# Point32WithCovariance. +# +# This recommendation is to promote interoperability. +# +# This message is designed to take up less space when sending +# lots of points at once, as in the case of a PointCloud. + +Point32 point + +# Row-major representation of the 3x3 covariance matrix +# In order, the parameters are: +# (x, y, z) +float32[9] covariance diff --git a/geometry_msgs/msg/Point32WithCovarianceStamped.msg b/geometry_msgs/msg/Point32WithCovarianceStamped.msg new file mode 100644 index 00000000..41cdd745 --- /dev/null +++ b/geometry_msgs/msg/Point32WithCovarianceStamped.msg @@ -0,0 +1,9 @@ +# This expresses an estimated point with a reference coordinate frame and timestamp +# (with 32 bits of precision). +# It is recommended to use PointWithCovarianceStamped wherever possible instead of +# Point32WithCovarianceStamped. +# +# This recommendation is to promote interoperability. + +std_msgs/Header header +Point32WithCovariance point diff --git a/geometry_msgs/msg/PointWithCovariance.msg b/geometry_msgs/msg/PointWithCovariance.msg new file mode 100644 index 00000000..27cd8f1b --- /dev/null +++ b/geometry_msgs/msg/PointWithCovariance.msg @@ -0,0 +1,8 @@ +# This represents a point in free space with uncertainty. + +Point point + +# Row-major representation of the 3x3 covariance matrix +# In order, the parameters are: +# (x, y, z) +float64[9] covariance diff --git a/geometry_msgs/msg/PointWithCovarianceStamped.msg b/geometry_msgs/msg/PointWithCovarianceStamped.msg new file mode 100644 index 00000000..c2924303 --- /dev/null +++ b/geometry_msgs/msg/PointWithCovarianceStamped.msg @@ -0,0 +1,4 @@ +# This expresses an estimated point with a reference coordinate frame and timestamp + +std_msgs/Header header +PointWithCovariance point From cc2d310c1dfd0d72a722236298a49e4eb2d69712 Mon Sep 17 00:00:00 2001 From: Maximilian Leitenstern Date: Thu, 21 May 2026 09:08:18 +0200 Subject: [PATCH 2/3] remove 32-bit msg-representations and stamped versions of PointWithCovariance Signed-off-by: Maximilian Leitenstern --- geometry_msgs/msg/Point32Stamped.msg | 9 --------- geometry_msgs/msg/Point32WithCovariance.msg | 15 --------------- .../msg/Point32WithCovarianceStamped.msg | 9 --------- geometry_msgs/msg/PointWithCovarianceStamped.msg | 4 ---- 4 files changed, 37 deletions(-) delete mode 100644 geometry_msgs/msg/Point32Stamped.msg delete mode 100644 geometry_msgs/msg/Point32WithCovariance.msg delete mode 100644 geometry_msgs/msg/Point32WithCovarianceStamped.msg delete mode 100644 geometry_msgs/msg/PointWithCovarianceStamped.msg diff --git a/geometry_msgs/msg/Point32Stamped.msg b/geometry_msgs/msg/Point32Stamped.msg deleted file mode 100644 index b5aaf087..00000000 --- a/geometry_msgs/msg/Point32Stamped.msg +++ /dev/null @@ -1,9 +0,0 @@ -# This represents a Point with reference coordinate frame and timestamp -# (with 32 bits of precision). -# It is recommended to use PointStamped wherever possible instead of -# Point32Stamped. -# -# This recommendation is to promote interoperability. - -std_msgs/Header header -Point32 point diff --git a/geometry_msgs/msg/Point32WithCovariance.msg b/geometry_msgs/msg/Point32WithCovariance.msg deleted file mode 100644 index bbe0263d..00000000 --- a/geometry_msgs/msg/Point32WithCovariance.msg +++ /dev/null @@ -1,15 +0,0 @@ -# This represents a point in free space with uncertainty (with 32 bits of precision). -# It is recommended to use PointWithCovariance wherever possible instead of -# Point32WithCovariance. -# -# This recommendation is to promote interoperability. -# -# This message is designed to take up less space when sending -# lots of points at once, as in the case of a PointCloud. - -Point32 point - -# Row-major representation of the 3x3 covariance matrix -# In order, the parameters are: -# (x, y, z) -float32[9] covariance diff --git a/geometry_msgs/msg/Point32WithCovarianceStamped.msg b/geometry_msgs/msg/Point32WithCovarianceStamped.msg deleted file mode 100644 index 41cdd745..00000000 --- a/geometry_msgs/msg/Point32WithCovarianceStamped.msg +++ /dev/null @@ -1,9 +0,0 @@ -# This expresses an estimated point with a reference coordinate frame and timestamp -# (with 32 bits of precision). -# It is recommended to use PointWithCovarianceStamped wherever possible instead of -# Point32WithCovarianceStamped. -# -# This recommendation is to promote interoperability. - -std_msgs/Header header -Point32WithCovariance point diff --git a/geometry_msgs/msg/PointWithCovarianceStamped.msg b/geometry_msgs/msg/PointWithCovarianceStamped.msg deleted file mode 100644 index c2924303..00000000 --- a/geometry_msgs/msg/PointWithCovarianceStamped.msg +++ /dev/null @@ -1,4 +0,0 @@ -# This expresses an estimated point with a reference coordinate frame and timestamp - -std_msgs/Header header -PointWithCovariance point From 4b4b242a5553a65fbade01fffe0ebced7328b374 Mon Sep 17 00:00:00 2001 From: Maximilian Leitenstern Date: Thu, 21 May 2026 09:09:49 +0200 Subject: [PATCH 3/3] adjust cmake and readme Signed-off-by: Maximilian Leitenstern --- geometry_msgs/CMakeLists.txt | 4 ---- geometry_msgs/README.md | 4 ---- 2 files changed, 8 deletions(-) diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt index 21b838e3..be8af5ef 100644 --- a/geometry_msgs/CMakeLists.txt +++ b/geometry_msgs/CMakeLists.txt @@ -24,12 +24,8 @@ set(msg_files "msg/InertiaStamped.msg" "msg/Point.msg" "msg/Point32.msg" - "msg/Point32Stamped.msg" - "msg/Point32WithCovariance.msg" - "msg/Point32WithCovarianceStamped.msg" "msg/PointStamped.msg" "msg/PointWithCovariance.msg" - "msg/PointWithCovarianceStamped.msg" "msg/Polygon.msg" "msg/PolygonInstance.msg" "msg/PolygonInstanceStamped.msg" diff --git a/geometry_msgs/README.md b/geometry_msgs/README.md index 3907f51d..4630a0d2 100644 --- a/geometry_msgs/README.md +++ b/geometry_msgs/README.md @@ -12,13 +12,9 @@ For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros * [Inertia](msg/Inertia.msg): Expresses the inertial properties of a link. * [InertiaStamped](msg/InertiaStamped.msg): An Inertia with reference coordinate frame and timestamp. * [Point32](msg/Point32.msg): The position of a 3-dimensional point in free space, with 32-bit fields. -* [Point32Stamped](msg/Point32Stamped.msg): Point with reference coordinate frame and timestamp, with 32-bit fields. -* [Point32WithCovariance](msg/Point32WithCovariance.msg): The position of a point in free space with uncertainty, with 32-bit fields. -* [Point32WithCovarianceStamped](msg/Point32WithCovarianceStamped.msg): An estimated point with reference coordinate frame and timestamp, with 32-bit fields. * [Point](msg/Point.msg): The position of a 3-dimensional point in free space. * [PointStamped](msg/PointStamped.msg): Point with reference coordinate frame and timestamp. * [PointWithCovariance](msg/PointWithCovariance.msg): The position of a point in free space with uncertainty. -* [PointWithCovarianceStamped](msg/PointWithCovarianceStamped.msg): An estimated point with reference coordinate frame and timestamp. * [Polygon](msg/Polygon.msg): A specification of a polygon where the first and last points are assumed to be connected. * [PolygonInstance](msg/PolygonInstance.msg): A specification of a polygon where the first and last points are assumed to be connected. Contains an identification field for disambiguation of multiple instances. * [PolygonInstanceStamped](msg/PolygonInstanceStamped.msg): A Polygon with reference coordinate frame and timestamp. Contains an identification field for disambiguation of multiple instances.