msg: header

simple_msgs - Header

A Header usually represents meta-information of another type of message. Adding a Header to another type MSG, makes what is called a MSGStamped. That is a version of MSG that also has a header. 💡

This is the same concept extensively used in ROS.

A simple_msgs::Header contains:

• a sequence_number (int): typically used to describe the sequence of messages sent or received.
• a frame_id (string): this is usually the name of the reference frame this message refers to (e.g. a Pose is linked to a certain reference frame).
• a timestamp (long long): defines when the message is generated (usually time from epoch).

You can directly build a header passing the three items:

simple_msgs::Header my_header{0, "root", 1000.0};

or use the setters/getters of its members.

Check the APIs!