geometry_msgs

geometry_msgs/Twist
#include <geometry_msgs/Twist.h>
for velocity control

• geometry_msgs/Vector3 linear (m/s)
• geometry_msgs/Vector3 angular (rad/s)

geometry_msgs/PoseWithCovariance
#include <geometry_msgs/PoseWithCovarianceStamped.h>

• geometry_msgs/Pose pose (x,y,z), (x,y,z,w)
• float64[36] covariance

geometry_msgs/TwistWithCovariance
#include <geometry_msgs/TwistWithCovarianceStamped.h>

• Twist twist
• float64[36] covariance

nav_msgs

nav_msgs/Odometry
#include <nav_msgs/Odometry.h>

• string child_frame_id
• geometry_msgs/PoseWithCovariance pose
• getmetry_msgs/TwistWithCovariance twist

sensor_msgs

sensor_msgs/pointcloud2
#include <sensor_msgs/PointCloud2.h>

• std_msgs/Header header
  (2d structure of the point cloud height, width)
• uint32 height
• uint32 width
• sensor_msgs/PointField[] fields (channels)
• bool is_bigendian (???)
• uint32 point_step (length of a point in bytes)
• uint32 row_step (length of a row in bytes)
• uint8[] data (actual data)
• bool is_dense (true if there are no invalid points)

sensor_msgs/LaserScan
#include <sensor_msgs/LaserScan.h>

• std_msgs/Header header
• float32 angle_min
• float32 angle_max
• float32 angle_increment
• float32 time_increment
• float32 scan_time
• float32 range_min
• float32 range_max
• float32[] ranges (actual data)
• float32[] intensities