#ROSBAG V2.0 Echunk_count={conn_count=index_pos=!op= ) size=7 compression=noneop=7 (topic=/imu/data conn=op= topic=/imu/datamessage_definition=# This is a message to hold data from an IMU (Inertial Measurement Unit) # # Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec # # If the covariance of the measurement is known, it should be filled in (if all you know is the variance of each measurement, e.g. from the datasheet, just put those along the diagonal) # A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the data a covariance will have to be assumed or gotten from some other source # # If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1 # If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate. Header header geometry_msgs/Quaternion orientation float64[9] orientation_covariance # Row major about x, y, z axes geometry_msgs/Vector3 angular_velocity float64[9] angular_velocity_covariance # Row major about x, y, z axes geometry_msgs/Vector3 linear_acceleration float64[9] linear_acceleration_covariance # Row major x, y z ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/Quaternion # This represents an orientation in free space in quaternion form. float64 x float64 y float64 z float64 w ================================================================================ MSG: geometry_msgs/Vector3 # This represents a vector in free space. float64 x float64 y float64 z 'md5sum=6a62c6daae103f4ff57a132d6f95cec2type=sensor_msgs/Imu& time=k QK conn=op=<k QE/imub]@sL?@[/?9RFߑ?9RFߑ?v/?gƄ`?@}caq range_max should be discarded) float32[] intensities # intensity data [device-specific units]. If your # device does not provide intensities, please leave # the array empty. ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id 'md5sum=90c7ef2dc6895d81024acba2ac42f369type=sensor_msgs/LaserScan& time=k Q)' conn=op=E!k QCbase_laser_linkǿ?5<7X8tZ<BQ?Q???G?G?G?(?(?(?p?p?p?p?R???= ?G?(?p?R??G? ?ff??p=??p=?{?\r@l@g@a@p]@W@\R@)\O@GJ@= G@33C@33C@ffF@p=J@{N@\R@U@GZ@= G@%@)@1@= 7@G:@@@ C@= G@E@33C@A@)\?@{>@(<@GA@H@Q@GZ@e@)\o@Gz@(@\@33@ כ@@@@G@@\@@)\ AQAp=&Az4AzDA{ZApB{A)\Ap=Ap=AzAAz4AzhA{6A 3AG2Ap@@z@ s@ף`@p=Z@GZ@(\@p]@R^@ף`@Ga@33c@zd@= g@e@)\_@X@\R@L@= G@A@<@Q8@ 3@0@(,@Q(@%@!@R@(@@(@@p=@@@ ד@R@@p@@z@ף@p@p=@R@ ׻@@Q@@(?G?= ???? ?\?G?G??R?p?p?(?G?G?G???Q?????? ף? ף?& time=k QHM conn=op=<k QJ/imu=$^ K?-/?9RFߑ?9RFߑ?v/?`@??aqtf package. # See it's documentation for more information. Header header string child_frame_id # the frame id of the child frame Transform transform ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/Transform # This represents the transform between two coordinate frames in free space. Vector3 translation Quaternion rotation ================================================================================ MSG: geometry_msgs/Vector3 # This represents a vector in free space. float64 x float64 y float64 z ================================================================================ MSG: geometry_msgs/Quaternion # This represents an orientation in free space in quaternion form. float64 x float64 y float64 z float64 w 'md5sum=94810edda583a504dfda3829e70d7eectype=tf/tfMessage& time=k Qs$ conn=op=yk Q/cameraFront_link/cameraFront_depth_frame{Gz?& time=k Qۨ% conn=op=_k Q "/odom /base_link;OnK@l??sI=?$ topic=/odom conn=op= topic=/odom| message_definition=# This represents an estimate of a position and velocity in free space. # The pose in this message should be specified in the coordinate frame given by header.frame_id. # The twist in this message should be specified in the coordinate frame given by the child_frame_id Header header string child_frame_id geometry_msgs/PoseWithCovariance pose geometry_msgs/TwistWithCovariance twist ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/PoseWithCovariance # This represents a pose in free space with uncertainty. Pose pose # Row-major representation of the 6x6 covariance matrix # The orientation parameters use a fixed-axis representation. # In order, the parameters are: # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis) float64[36] covariance ================================================================================ MSG: geometry_msgs/Pose # A representation of pose in free space, composed of postion and orientation. Point position Quaternion orientation ================================================================================ MSG: geometry_msgs/Point # This contains the position of a point in free space float64 x float64 y float64 z ================================================================================ MSG: geometry_msgs/Quaternion # This represents an orientation in free space in quaternion form. float64 x float64 y float64 z float64 w ================================================================================ MSG: geometry_msgs/TwistWithCovariance # This expresses velocity in free space with uncertianty. Twist twist # Row-major representation of the 6x6 covariance matrix # The orientation parameters use a fixed-axis representation. # In order, the parameters are: # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis) float64[36] covariance ================================================================================ MSG: geometry_msgs/Twist # This expresses velocity in free space broken into it's linear and angular parts. Vector3 linear Vector3 angular ================================================================================ MSG: geometry_msgs/Vector3 # This represents a vector in free space. float64 x float64 y float64 z 'md5sum=cd5e73d190d741a2f92e81eda573aca7type=nav_msgs/Odometry& time=k Q& conn=op=1#k Q "odom base_link;OnK@l??sI=?5topic=/pbot_aria/sonar_cloud conn=op=E topic=/pbot_aria/sonar_cloud message_definition=# This message holds a collection of 3d points, plus optional additional # information about each point. # Time of sensor data acquisition, coordinate frame ID. Header header # Array of 3d points. Each Point32 should be interpreted as a 3d point # in the frame given in the header. geometry_msgs/Point32[] points # Each channel should have the same number of elements as points array, # and the data in each channel should correspond 1:1 with each point. # Channel names in common practice are listed in ChannelFloat32.msg. ChannelFloat32[] channels ================================================================================ MSG: std_msgs/Header # Standard metadata for higher-level stamped data types. # This is generally used to communicate timestamped data # in a particular coordinate frame. # # sequence ID: consecutively increasing ID uint32 seq #Two-integer timestamp that is expressed as: # * stamp.secs: seconds (stamp_secs) since epoch # * stamp.nsecs: nanoseconds since stamp_secs # time-handling sugar is provided by the client library time stamp #Frame this data is associated with # 0: no frame # 1: global frame string frame_id ================================================================================ MSG: geometry_msgs/Point32 # This contains the position of a point in free space(with 32 bits of precision). # It is recommeded to use Point wherever possible instead of Point32. # # 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. float32 x float32 y float32 z ================================================================================ MSG: sensor_msgs/ChannelFloat32 # This message is used by the PointCloud message to hold optional data # associated with each point in the cloud. The length of the values # array should be the same as the length of the points array in the # PointCloud, and each value should be associated with the corresponding # point. # Channel names in existing practice include: # "u", "v" - row and column (respectively) in the left stereo image. # This is opposite to usual conventions but remains for # historical reasons. The newer PointCloud2 message has no # such problem. # "rgb" - For point clouds produced by color stereo cameras. uint8 # (R,G,B) values packed into the least significant 24 bits, # in order. # "intensity" - laser or pixel intensity. # "distance" # The channel name should give semantics of the channel (e.g. # "intensity" instead of "value"). string name # The values array should be 1-1 with the elements of the associated # PointCloud. float32[] values 'md5sum=d8e9c3f5afbdd8a130fd1d2763945fcatype=sensor_msgs/PointCloud& time=k Q' conn=op==1#k Q\&sonar]fBL>ܧVzfBL>&WBL>Z`BL>Łm_BL>YBL>qWBL>liBL>%%`BL>XXBL>G23F\BL>usXBL>>]fBL>xfBL>Z`BL>YBL>liBL>%%`BL>&WBL>XXBL>Łm_BL>sF\BL>➩rWBL>usXBL>& time=k Q\f2 conn=op=<k QK./imu`f^$K?#`/?9RFߑ?9RFߑ?v/?`k?E}?aqG?@)/?9RFߑ?9RFߑ?v/?D{ k?waq?`1j?aqܧVzfBL>&WBL>Z`BL>Łm_BL>YBL>qWBL>liBL>%%`BL>XXBL>G23F\BL>usXBL>>]fBL>xfBL>Z`BL>YBL>liBL>%%`BL>&WBL>XXBL>Łm_BL>sF\BL>➩rWBL>usXBL>& time=k QYQ conn=op=F!k Q)base_laser_linkɿ?5<7X8tZ<B?Q???G?G?G?(?(?(?(?p?p?p?R?R?R?{???(?R??G? ???p=??p=??)\?p@i@e@)\_@p=Z@U@GQ@(L@H@E@GA@E@QH@(L@P@ S@QX@(\@'@= '@0@ 3@8@p=@\B@ C@= G@zD@\B@ף@@R>@<@<@E@pM@ffV@)\_@i@u@ף@)\@= @= @@p=@p@33@p=@Q@@GA{A33A-ACAOAGeAѣBzARA{AGAA4AQ4A{6A{6A= 3A)A= @\@{~@p=j@p=Z@GZ@[@\@{^@)\_@ף`@\b@ c@e@= g@a@[@U@RN@I@E@@@p=:@5@\2@{.@p=*@= '@ #@ף @{@G@p=@p@G@@@G@p@ף@ כ@)\@G@R@33@@z@@= @@G@R?(?Q??ff?ff?? ?G?G??R?p?p?G?(??G?G?????????\??& time=k Ql conn=op=wk QV_/cameraFront_link/cameraFront_rgb_frame ףp= ?& time=k Q5g conn=op=<k Q+T/imu =3]dP?@ `0?9RFߑ?9RFߑ?v/?@Wo ɉ?=B?aq[`J K?L /?9RFߑ?9RFߑ?v/?SH?W?aqaqliBL>%%`BL>XXBL>G23F\BL>usXBL>>]fBL>xfBL>Z`BL>YBL>liBL>%%`BL>&WBL>XXBL>Łm_BL>sF\BL>➩rWBL>usXBL>]fBL>Z`BL>q0YBL>ܧVzfBL>}kjBL>%%`BL>& time=k Q  conn=op=_k Q /odom /base_link;OnK@l??sI=?& time=k Qկ conn=op=yk Q$/cameraFront_link/cameraFront_depth_frame{Gz?& time=k QC  conn=op=<k Q/imuxY[@JO?N/?9RFߑ?9RFߑ?v/?Nr&?q?aq2 E@M#@-C6:?-C6:?-C6:?& time=k Qe conn=op=wk Q8ZH? 0?9RFߑ?9RFߑ?v/?pMM??aq! conn=op=k Q+)'/cameraBack_rgb_frame/cameraBack_rgb_optical_frame??& time=k Qk! conn=op=<k Q|_!/imuw^Q? ^1?9RFߑ?9RFߑ?v/?@f[p?ku?aq>]fBL>xfBL>Z`BL>YBL>liBL>%%`BL>&WBL>XXBL>Łm_BL>sF\BL>➩rWBL>usXBL>]fBL>Z`BL>q0YBL>ܧVzfBL>}kjBL>%%`BL>W*ɛWBL>XXBL>Ɂ_BL>➩rWBL>k,XBL>& time=k Q\$ conn=op=wk Q0N*/cameraFront_link/cameraFront_rgb_frame ףp= ?& time=k Q]$ conn=op=<k Q[>X$/imu]ΙJ? z2?9RFߑ?9RFߑ?v/?`*?t?aqw?e|?aq@\B@zD@= G@zD@\B@ף@@R>@p=@<@E@L@ffV@)\_@p=j@zt@ף@)\@= @= @@@p@33@\@@z@A{A33Ap-ACAOAdAѣBzARAAGAA4AQ4A{6A{6A= 3AG)A)\@\@{~@p=j@p=Z@GZ@[@\@{^@`@ף`@\b@zd@e@g@a@[@U@)\O@I@E@@@G:@5@\2@R.@G*@= '@ #@ף @p@p=@p=@p@@@@p=@p@Q@(@)\@33@R@G@@z@@= @@ף@G?(???ff?ff?? ?G?G??R?p?p?p?(?G??G??Q??????G?? ף?& time=k Q' % conn=op=<k Qc%/imun\`|O?`z2?9RFߑ?9RFߑ?v/?r3g}?`J?aq\`jO? q2?9RFߑ?9RFߑ?v/?=f?4B?aq&/imu`G]iN?@`O2?9RFߑ?9RFߑ?v/? - ? 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