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You could use geometry_msgs/Vector3Stamped

$ rosmsg show geometry_msgs/Vector3Stamped 
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Vector3 vector
  float64 x
  float64 y
  float64 z

You can browse messages with

rosmsg list

You could use geometry_msgs/Vector3Stamped

$ rosmsg show geometry_msgs/Vector3Stamped 
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Vector3 vector
  float64 x
  float64 y
  float64 z

You can browse messages with

rosmsg list

Publishing this as a topic is good described in the publisher and subscriber tutorial: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29