erl_geometry_msgs

A ROS package for geometry messages to transmit data structures in 🚪erl_geometry.

Messages

OccupancyTreeMsg

Serialized occupancy quadtree (2D) or octree (3D).

Field	Type	Description
header	std_msgs/Header	Timestamp and frame
dim	uint8	Spatial dimension (2 or 3)
tree_type	string	Tree type identifier
scale	float64	Resolution scale of the tree
is_double	bool	Whether values are double precision
binary	bool	Whether serialization is binary
data	int8[]	Serialized tree data

GridMapMsg

A 2D grid map supporting multiple value encodings (INT8, UINT8, INT16, UINT16, INT32, UINT32, FLOAT32, FLOAT64).

Field	Type	Description
header	std_msgs/Header	Timestamp and frame
info	nav_msgs/MapMetaData	Map metadata (resolution, size, origin)
encoding	uint8	Data type encoding (see message for IDs)
data	uint8[]	Raw map data in row-major order

GridMapUpdateMsg

Incremental update for a subregion of a GridMapMsg.

Field	Type	Description
header	std_msgs/Header	Timestamp and frame
x	int32	X origin of the update region
y	int32	Y origin of the update region
width	uint32	Width of the update region
height	uint32	Height of the update region
encoding	uint8	Data type encoding
data	uint8[]	Raw update data in row-major order

MeshMsg

A triangle mesh with header and optional per-vertex/per-face colors. Wraps shape_msgs/Mesh.

Field	Type	Description
header	std_msgs/Header	Timestamp and frame
mesh	shape_msgs/Mesh	Triangle mesh (vertices + triangle indices)
vertex_colors	std_msgs/ColorRGBA[]	Optional per-vertex colors (empty or same length as vertices)
face_colors	std_msgs/ColorRGBA[]	Optional per-face colors (empty or same length as triangles)

Frontier

A single frontier region with vertices and indexed primitives.

Field	Type	Description
id	uint32	Frontier identifier
score	float64	Frontier score/utility
vertices	geometry_msgs/Point[]	Frontier vertices
indices	uint32[]	Index into vertices; pairs (dim=2) or triples (dim=3)

FrontierArray

A collection of frontiers with shared dimensionality and resolution.

Field	Type	Description
header	std_msgs/Header	Timestamp and frame
dim	uint8	Spatial dimension (2 = line segments, 3 = triangles)
resolution	float64	Frontier extraction resolution (meters); 0 = unset
frontiers	Frontier[]	Array of frontier regions

Getting Started

Prerequisites

• CMake 3.16 or higher
• A C++17 compatible compiler

Create Workspace

mkdir -p <your_workspace>/src && \
vcs import --input https://raw.githubusercontent.com/ExistentialRobotics/erl_geometry_msgs/refs/heads/main/erl_geometry_msgs.repos <your_workspace>/src

Building the Package

cd <your_workspace>
# for ROS1
catkin build erl_geometry_msgs
source devel/setup.bash
# for ROS2
colcon build --packages-up-to erl_geometry_msgs
source install/setup.bash