irsim.msg

Public message types for dependency-free snapshots.

Submodules

• irsim.msg.messages

Classes

ContactState	One contact of an object in the last step (collision_mode: contact).
Header	Version-neutral metadata shared by all IR-SIM messages.
LaserScan	Shared sensor_msgs/LaserScan fields for a LiDAR snapshot.
Message	Base class that provides JSON-compatible message serialization.
ObjectState	Topic-shaped messages and simulator metadata for one object.
Odometry	ROS nav_msgs/Odometry-shaped object pose and velocity.
Point	ROS geometry_msgs/Point-shaped Cartesian position.
Pose	ROS geometry_msgs/Pose-shaped position and orientation.
PoseWithCovariance	ROS geometry_msgs/PoseWithCovariance-shaped pose.
Quaternion	ROS geometry_msgs/Quaternion-shaped orientation.
Twist	ROS geometry_msgs/Twist-shaped linear and angular velocity.
TwistWithCovariance	ROS geometry_msgs/TwistWithCovariance-shaped velocity.
Vector3	ROS geometry_msgs/Vector3-shaped Cartesian vector.
WorldState	Complete point-in-time state of an IR-SIM environment.

Package Contents

class irsim.msg.ContactState

Bases: Message

One contact of an object in the last step (collision_mode: contact).

normal points from the partner toward the object, point is the world-frame contact point, depth the overlap that was pushed apart (zero or negative for a resting contact) and force the contact force in newtons along the normal.

ros_type: ClassVar[str] = 'irsim_msgs/ContactState'

other_id: int = -1

other: str = ''

point: Point

normal: Vector3

depth: float = 0.0

force: float = 0.0

classmethod from_report(report: Any) → ContactState

Serialize an object's ContactReport.

class irsim.msg.Header

Bases: Message

Version-neutral metadata shared by all IR-SIM messages.

ros_type: ClassVar[str] = 'std_msgs/Header'

seq: int = 0

stamp: float = 0.0

frame_id: str = 'world'

class irsim.msg.LaserScan

Bases: Message

Shared sensor_msgs/LaserScan fields for a LiDAR snapshot.

ros_type: ClassVar[str] = 'sensor_msgs/LaserScan'

header: Header

angle_min: float

angle_max: float

angle_increment: float

time_increment: float

scan_time: float

range_min: float

range_max: float

ranges: numpy.ndarray

intensities: numpy.ndarray

classmethod from_sensor(sensor: Any, *, stamp: float = 0.0, seq: int = 0, frame_id: str | None = None, use_inf: bool = False) → LaserScan

Capture a LiDAR sensor without sharing its mutable arrays.

By default ranges are the sensor's own finite values, range_max for a miss, so snapshots used for learning are unchanged. With use_inf=True a beam without a usable return becomes +inf when nothing came back within range_max and -inf when the return was too close to measure, as Gazebo publishes it under REP 117, so ROS consumers read the scan as they would a real driver's.

class irsim.msg.Message

Base class that provides JSON-compatible message serialization.

to_dict() → dict[str, Any]

Return the complete message as JSON-compatible built-in values.

class irsim.msg.ObjectState

Bases: Message

Topic-shaped messages and simulator metadata for one object.

In collision_mode: contact the state also carries what a contact sensor reports: the net contact_force, one ContactState per contact, and how long the object has been touching (contact_time) or free (air_time).

header: Header

id: int

name: str

role: str

kinematics: str | None

shape: str

odom: Odometry

scan: LaserScan | None

goal: numpy.ndarray | None

static: bool

arrive: bool

collision: bool

collision_ids: list[int] = []

scans: list[LaserScan] = []

contact_force: Vector3

contact_time: float = 0.0

air_time: float = 0.0

contacts: list[ContactState] = []

classmethod from_object(obj: Any, *, stamp: float = 0.0, seq: int = 0, frame_id: str = 'world', use_inf: bool = False) → ObjectState

Capture an object as conventional odom and scan topics.

use_inf is passed to LaserScan.from_sensor().

property sensors: list[LaserScan]

Return all LiDAR messages as a compatibility alias for scans.

class irsim.msg.Odometry

Bases: Message

ROS nav_msgs/Odometry-shaped object pose and velocity.

ros_type: ClassVar[str] = 'nav_msgs/Odometry'

header: Header

child_frame_id: str = ''

pose: PoseWithCovariance

twist: TwistWithCovariance

classmethod from_object(obj: Any, *, stamp: float = 0.0, seq: int = 0, frame_id: str = 'world') → Odometry

Capture an object's planar pose and body-frame velocity.

classmethod from_msg(msg: Any) → Odometry

Adopt any ROS-compatible nav_msgs/Odometry-shaped message.

Only the planar fields IR-SIM uses are read, so native ROS messages and partial stand-ins are both accepted. Header metadata is left out, since its layout is ROS-version specific and belongs to the receiver.

参数:

msg -- An object exposing pose.pose and twist.twist.

返回:

An independent, validated IR-SIM odometry message.

返回类型:

Odometry

抛出:

• TypeError -- If msg does not expose ROS odometry pose and twist.

• ValueError -- If any planar value is not finite.

to_state_velocity(obj: Any) → tuple[numpy.ndarray, numpy.ndarray]

Convert this odometry into state and velocity arrays for obj.

The inverse of from_object(): the planar pose replaces the first three state values, and the body-frame twist is mapped onto the velocity layout of the object's kinematics. obj is only read, so a caller can validate several updates before applying any of them.

Ackermann steering is carried as a yaw rate, which is zero whenever the car is not moving. A stopped car therefore conveys no steering angle, and obj keeps the one it already had.

参数:

obj -- The simulation object whose layout the arrays must match.

返回:

The new (state, velocity) arrays for obj.

返回类型:

tuple

抛出:

ValueError -- If obj has fewer than three state values, an Ackermann object has no steering value, or the orientation defines no rotation.

class irsim.msg.Point

Bases: Message

ROS geometry_msgs/Point-shaped Cartesian position.

ros_type: ClassVar[str] = 'geometry_msgs/Point'

x: float = 0.0

y: float = 0.0

z: float = 0.0

class irsim.msg.Pose

Bases: Message

ROS geometry_msgs/Pose-shaped position and orientation.

ros_type: ClassVar[str] = 'geometry_msgs/Pose'

position: Point

orientation: Quaternion

class irsim.msg.PoseWithCovariance

Bases: Message

ROS geometry_msgs/PoseWithCovariance-shaped pose.

ros_type: ClassVar[str] = 'geometry_msgs/PoseWithCovariance'

pose: Pose

covariance: numpy.ndarray

class irsim.msg.Quaternion

Bases: Message

ROS geometry_msgs/Quaternion-shaped orientation.

ros_type: ClassVar[str] = 'geometry_msgs/Quaternion'

x: float = 0.0

y: float = 0.0

z: float = 0.0

w: float = 1.0

classmethod from_yaw(yaw: float) → Quaternion

Create a planar quaternion from a yaw angle in radians.

to_yaw() → float

Return the planar yaw angle in radians, from a normalized copy.

抛出:

ValueError -- If the quaternion is zero and defines no rotation.

class irsim.msg.Twist

Bases: Message

ROS geometry_msgs/Twist-shaped linear and angular velocity.

ros_type: ClassVar[str] = 'geometry_msgs/Twist'

linear: Vector3

angular: Vector3

class irsim.msg.TwistWithCovariance

Bases: Message

ROS geometry_msgs/TwistWithCovariance-shaped velocity.

ros_type: ClassVar[str] = 'geometry_msgs/TwistWithCovariance'

twist: Twist

covariance: numpy.ndarray

class irsim.msg.Vector3

Bases: Message

ROS geometry_msgs/Vector3-shaped Cartesian vector.

ros_type: ClassVar[str] = 'geometry_msgs/Vector3'

x: float = 0.0

y: float = 0.0

z: float = 0.0

class irsim.msg.WorldState

Bases: Message

Complete point-in-time state of an IR-SIM environment.

header: Header

name: str

status: str

step_time: float

objects: list[ObjectState] = []

classmethod from_env(env: Any, frame_id: str = 'world', use_inf: bool = False) → WorldState

Capture the current state and sensor data from an environment.

use_inf is passed to every LaserScan.from_sensor().

property robots: list[ObjectState]

Return the robot messages in this snapshot.

property obstacles: list[ObjectState]

Return the obstacle messages in this snapshot.