分为两部分,消息头和位姿:

std_msgs/Header header
geometry_msgs/PoseWithCovariance pose

header部分:

(1) unit32 seq

# sequence ID: consecutively increasing ID 

(2)time stamp

#Two-integer timestamp that is expressed as:
 # * stamp.sec: seconds (stamp_secs) since epoch
 # * stamp.nsec: nanoseconds since stamp_secs
 # time-handling sugar is provided by the client library

(3) string frame_id

#Frame this data is associated with
 # 0: no frame
 # 1: global frame

pose部分:

(1)geometry_msgs/Pose pose  // 平移和旋转的四元数
Point：
float64 x
float64 y
float64 z

Quaternion：
float64 x
float64 y
float64 z
float64 w

(2)float64[36] covariance  // 协防差矩阵
(x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)