一、geometry_msgs/Pose 消息类型

http://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Pose.htmlhttp://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Pose.html

# A representation of pose in free space, composed of position and orientation. 
# 在*空间中姿态的代表，包括位置和朝向
Point position
Quaternion orientation

其中：

1.geometry_msgs/Point 

http://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Pose.htmlhttp://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Pose.html

# This contains the position of a point in free space
# 在*空间中的位置
float64 x
float64 y
float64 z

2.geometry_msgs/Quaternion

geometry_msgs/Quaternion Documentationhttp://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/Quaternion.html

# This represents an orientation in free space in quaternion form.
# 用四元数代表在*空间中的朝向
float64 x
float64 y
float64 z
float64 w