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Is the data in header message automatically filled?

asked 2013-09-14 07:06:23 -0500

benjaminabruzzo gravatar image

updated 2014-01-28 17:17:57 -0500

ngrennan gravatar image

I am deciding between a Pose message and a Pose Stamped message: will I need to explicitly fill the header data for the stamped message or does ROS handle that automagically?

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answered 2013-09-14 08:08:43 -0500

dornhege gravatar image

The sequence number is filled. You will need to fill the rest as that actually determines the semantics of the message. ROS can't fill that.

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For the standard header template I'll need to us a line such as: poseName.header.stamp = ros::Time::now(); and poseName.header.frame_id = #; where # is some number of the associated frame?

benjaminabruzzo gravatar image benjaminabruzzo  ( 2013-09-14 08:48:34 -0500 )edit

You'll use whatever is correct. The pose you send out will represent some pose relative to some frame, that is the frame_id to set. Wherever that comes from will also determine the time to set. This is the time that pose had relative to this frame, not when some calculation was made.

dornhege gravatar image dornhege  ( 2013-09-14 09:20:46 -0500 )edit

frame_id and time stamp make sense in connection with tf. If you don't know how that works, check it out:

dornhege gravatar image dornhege  ( 2013-09-14 09:22:32 -0500 )edit

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Asked: 2013-09-14 07:06:23 -0500

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Last updated: Sep 14 '13