nav_2d_msgs

This package has basic message types for two dimensional navigation. Many of the messages are similar to those in geometry_msgs or nav_msgs but are streamlined to only be concerned with 2.5 dimensional (x, y, theta) navigation. This eliminates quaternions from the messages in many places, which make calculations faster and avoids that particular headache when only one orientation value is needed for 2.5D navigation.

Points and Poses

• Point2D - like geometry_msgs::Point but just x and y (no z)
• Pose2DStamped - geometry_msgs::Pose2D with a header
• Pose2D32 - (x, y, theta) with only 32bit floating point precision.
• Path2D - An array of Pose2D with a header. Similar to nav_msgs::Path but without redundant headers.

Polygons

• Polygon2D - Like geometry_msgs::Polygon but with 64 bit precision and no z coordinate.
• Polygon2DStamped - above with a header
• ComplexPolygon2D - Non-simple Polygon2D, i.e. polygon with inner holes
• Polygon2DCollection - A list of complex polygons, with a header and an optional parallel list of colors.

Twists

• Twist2D - Like geometry_msgs::Twist but only (x, y, theta) (and not separated into linear and angular)
• Twist2DStamped - above with a header
• Twist2D32 - (x, y, theta) with only 32bit floating point precision.

NavGrids

• NavGridInfo - Same data as nav_grid::NavGridInfo. Similar to nav_msgs::MapMetadata
• NavGridOfChars - Data for nav_grid::NavGrid<unsigned char>. Similar to nav_msgs::OccupancyGrid
• NavGridOfDoubles - Data for nav_grid::NavGrid<double>
• NavGridOfCharsUpdate and NavGridOfDoublesUpdate - Similar to map_msgs::OccupancyGridUpdate
• UIntBounds - Same data as nav_core2::UIntBounds. Used in both Update messages.

Service

• SwitchPlugin - A simple service equivalent to SetString.srv use by the PluginMux.