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PoseStamped and Pose type difference

asked 2011-12-22 07:00:29 -0500

alfa_80 gravatar image

updated 2014-01-28 17:11:02 -0500

ngrennan gravatar image

I would like to know the difference between pose types of PoseStamped and Pose from geometry_msgs. Which one is better and/or in which situation one is better over another?

Why I always got problem when using PoseStamped, perhaps there are some requirements before we can use it.

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answered 2011-12-22 07:09:35 -0500

mjcarroll gravatar image

Pose is the x,y,z position and quaternion orientation of the robot, a rosmsg show Pose reveals:

[geometry_msgs/Pose]:
geometry_msgs/Point position
  float64 x
  float64 y
  float64 z
geometry_msgs/Quaternion orientation
  float64 x
  float64 y
  float64 z
  float64 w

While PoseStamped is simply a Pose message with the standard ROS header:

[geometry_msgs/PoseStamped]:
Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Pose pose
  geometry_msgs/Point position
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion orientation
    float64 x
    float64 y
    float64 z
    float64 w

I think it depends on which stack you are using for which message is used, and I believe that PoseStamped is largely preferred because it includes the coordinate frame_id of the given Pose, as well as the time stamp that that Pose is valid.

On the other hand, if you don't need time information (say you are storing a time-independant Path), you could use an array of Poses, which would not need the additional header information.

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answered 2011-12-22 07:07:13 -0500

DimitriProsser gravatar image

PoseStamped contains a Header. A header contains 3 fields, frame_id, stamp, and seq (automatically filled in by ROS). A Pose message does not contain a header. PoseStamped is typically more regularly used because it provides additional useful information.

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Asked: 2011-12-22 07:00:29 -0500

Seen: 6,735 times

Last updated: Dec 22 '11