geometry_msgs

This package provides messages for common geometric primitives such as points, vectors, and poses. These primitives are designed to provide a common data type and facilitate interoperability throughout the system.

For more information about ROS 2 interfaces, see docs.ros.org.

Messages (.msg)

• Accel: Expresses acceleration in free space broken into its linear and angular parts.
• AccelStamped: An accel with reference coordinate frame and timestamp.
• AccelWithCovariance: Acceleration in free space with uncertainty.
• AccelWithCovarianceStamped: An estimated accel with reference coordinate frame and timestamp.
• Inertia: Expresses the inertial properties of a link.
• InertiaStamped: An Inertia with reference coordinate frame and timestamp.
• Point32: The position of a 3-dimensional point in free space, with 32-bit fields.
• Point: The position of a 3-dimensional point in free space.
• PointStamped: Point with reference coordinate frame and timestamp.
• Polygon: A specification of a polygon where the first and last points are assumed to be connected.
• PolygonInstance: 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: A Polygon with reference coordinate frame and timestamp. Contains an identification field for disambiguation of multiple instances.
• PolygonStamped: A Polygon with reference coordinate frame and timestamp.
• Pose2D: Deprecated as of Foxy and will potentially be removed in any following release.
• PoseArray: An array of poses with a header for global reference.
• Pose: A representation of pose in free space, composed of position and orientation.
• PoseStamped: A Pose with reference coordinate frame and timestamp.
• PoseWithCovariance: A pose in free space with uncertainty.
• PoseWithCovarianceStamped: An estimated pose with a reference coordinate frame and timestamp.
• Quaternion: An orientation in free space in quaternion form.
• QuaternionStamped: An orientation with reference coordinate frame and timestamp.
• Transform: The transform between two coordinate frames in free space.
• TransformStamped: A transform from coordinate frame header.frame_id to the coordinate frame child_frame_id.
• Twist: Velocity in 3-dimensional free space broken into its linear and angular parts.
• TwistStamped: A twist with reference coordinate frame and timestamp.
• TwistWithCovariance: Velocity in 3-dimensional free space with uncertainty.
• TwistWithCovarianceStamped: An estimated twist with reference coordinate frame and timestamp.
• Vector3: Represents a vector in 3-dimensional free space.
• Vector3Stamped: Represents a Vector3 with reference coordinate frame and timestamp.
• Wrench: Represents force in free space, separated into its linear and angular parts.
• WrenchStamped: A wrench with reference coordinate frame and timestamp.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package geometry_msgs

5.5.1 (2025-10-01)

• Fix CMAKE deprecation (#288) (#290)
• Contributors: mergify[bot]

5.5.0 (2025-03-20)

• Complete Removal of PoseStampedArray (#270)
• Move geometry_msgs/PoseStampedArray to nav_msgs/Goals (#269)
• Add PoseStampedArray (#262)
• Contributors: Tony Najjar, Tully Foote

5.4.2 (2024-11-20)

5.4.1 (2024-06-17)

5.4.0 (2024-04-26)

• Update quality declaration documents (#245)
• Remove references to index.ros.org. (#244)
• Contributors: Chris Lalancette, Christophe Bedard

5.3.4 (2024-04-16)

5.3.3 (2024-04-10)

5.3.2 (2024-04-10)

• Create new messages with all fields needed to define a velocity and transform it (#240) Co-authored-by: Dr. Denis <<denis@stoglrobotics.de>> Co-authored-by: Addisu Z. Taddese <<addisuzt@intrinsic.ai>> Co-authored-by: Tully Foote <<tullyfoote@intrinsic.ai>>
• Clarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py. So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).
• Contributors: Alejandro Hernández Cordero, Chris Lalancette

5.3.1 (2024-03-28)

5.3.0 (2024-01-24)

• adding IDs to geometry_msgs/Polygon, PolygonStamped (#232)
• Contributors: Steve Macenski

5.2.2 (2023-12-26)

5.2.1 (2023-11-06)

5.2.0 (2023-06-07)

5.1.0 (2023-04-27)

5.0.0 (2023-04-11)

4.7.0 (2023-02-13)

• Update common_interfaces to C++17. (#215)
• [rolling] Update maintainers - 2022-11-07 (#210)
• Contributors: Audrow Nash, Chris Lalancette

4.6.1 (2022-11-02)

4.6.0 (2022-09-13)

4.5.0 (2022-05-19)

4.4.0 (2022-04-29)

4.3.0 (2022-04-29)

4.2.1 (2022-03-31)

4.2.0 (2022-03-30)

4.1.1 (2022-03-26)

4.1.0 (2022-03-01)

• Interface packages should fully <depend> on the interface packages that they depend on (#173)
• Contributors: Grey

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