mteb/BrightProRoboticsRetrieval huggingface dataset:
ros-making-a-mobile-robot-pt-10/35)  
11  |  [ Designing a chassis for our robot! (+ other fixes)
](https://youtu.be/RjhBRn6lDSM) |  16:11  |  No blog post  |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-designing-a-chassis-
making-a-mobile-robot-pt-11/36)  
12  |  [ Solving the problem EVERY robot has (with ros2_control)
](https://youtu.be/4QKsDf1c4hc) |  24:36  |  [ Making a Mobile Robot #12 -
ros2_control Concept & Simulation ](https://articulatedrobotics.xyz/mobile-
robot-12-ros2-control/) |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-ros2-control-
overview-simulation-making-a-mobile-robot-pt-12/91)  
12a  |  [ Ros2_control Extra Bits ](https://youtu.be/8ByoP_oSdno) |  17:38  |
[ Making a Mobile Robot #12a - ros2_control extra bits
](https://articulatedrobotics.xyz/mobile-robot-12a-ros2-control-extra/) |  [
Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-
ros2-control-overview-simulation-making-a-mobile-robot-pt-12/91)  
13  |  [ Using ros2_control to drive our robot (off the edge of the bench…)
](https://youtu.be/4VVrTCnxvSw) |  31:37  |  [ Making a Mobile Robot #13 -
Using ros2_control on a real robot ](https://articulatedrobotics.xyz/mobile-
robot-13-ros2-control-real/) |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-running-ros2-control-
on-a-real-robot-making-a-mobile-robot-pt-13/107)  
14a  |  [ Easy wireless control for your homemade robot!
](https://youtu.be/F5XlNiCKbrY) |  21:44  |  [ Making a Mobile Robot #14a -
Teleoperation ](https://articulatedrobotics.xyz/mobile-robot-14a-teleop/) |  [
Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-robot-
teleoperation-making-a-mobile-robot-pt-14a-14b/131)  
14b  |  [ Control your ROS robot from your phone! ](https://youtu.be/hkkG-
Sgi9Sk) |  21:05  |  [ Making a Mobile Robot #14b - Advanced Teleop
](https://articulatedrobotics.xyz/mobile-robot-14b-adv-teleop/) |  [
Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-robot-
teleoperation-making-a-mobile-robot-pt-14a-14b/131)  
15  |  [ Easy SLAM with ROS using slam_toolbox ](https://youtu.be/ZaiA3hWaRzE)
|  25:47  |  No blog post (yet)  |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-slam-on-our-robot-
with-slam-toolbox-making-a-mobile-robot-pt-15/163)  
16  |  [ Making robot navigation easy with Nav2 and ROS!!
](https://youtu.be/jkoGkAd0GYk) |  22:39  |  No blog post (yet)  |  [
Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-
nav2-introduction-making-a-mobile-robot-pt-16/199)  
17  |  [ One thing every robot should have… ](https://youtu.be/lI2bLPDHEmQ) |
07:55  |  No blog post (yet)  |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-adding-a-screen-to-
the-robot-making-a-mobile-robot-pt-17/229)  
18  |  [ Can you chase a tennis ball with ROS? ](https://youtu.be/gISSSbYUZag)
|  28:24  |  [ Making a Mobile Robot #18 - Object Tracking with OpenCV
](https://articulatedrobotics.xyz/mobile-robot-18-objtrk/) |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-camera-object-
tracking-making-a-mobile-robot-pt-18/268)
* [ Code  ](/iRobotEducation/create3_sim)
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* [ G.2.2 ](../../releases/g_2_2/)
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    * Humble  Humble 
      * [ H.2.6 ](../../releases/h_2_6/)
      * Older  Older 
        * [ H.0.0 ](../../releases/h_0_0/)
        * [ H.1.0 ](../../releases/h_1_0/)
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urdf/) |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-concept-design-urdf-
making-a-mobile-robot-pt-2/27)  
3  |  [ Driving your virtual robot! ](https://youtu.be/IjFcr5r0nMs) |  22:57
|  [ Making a Mobile Robot #3 - Concept Design Gazebo
](https://articulatedrobotics.xyz/mobile-robot-3-concept-gazebo/) |  [
Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-concept-
design-gazebo-making-a-mobile-robot-pt-3/28)  
4  |  [ Giving Our Robot a Brain - Raspberry Pi
](https://youtu.be/RAqFgU3Gfv0) |  06:59  |  [ Making a Mobile Robot #4 -
Raspberry Pi ](https://articulatedrobotics.xyz/mobile-robot-4-raspberry-pi/) |
[ Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-
raspberry-pi-robot-brain-making-a-mobile-robot-pt-4/29)  
5  |  [ EVERYTHING you need to know about about robot power
](https://youtu.be/Iye4uVLmj8o) |  16:33  |  [ Making a Mobile Robot #5 -
Power Concepts ](https://articulatedrobotics.xyz/mobile-robot-5-power-theory/)
|  [ Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-
power-concepts-making-a-mobile-robot-pt-5/30)  
6  |  [ Robot Power 2: Electric Boogaloo ](https://youtu.be/_FGYVgAti9M) |
14:04  |  No Blog post  |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-wiring-up-making-a-
mobile-robot-pt-6/31)  
7  |  [ The Ultimate Guide to using Motors in Robotics (including ROS,
Raspberry Pi) ](https://youtu.be/-PCuDnpgiew) |  25:56  |  No Blog post  |  [
Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-motor-
guide-making-a-mobile-robot-pt-7/32)  
8  |  [ How do we add LIDAR to a ROS robot? ](https://youtu.be/eJZXRncGaGM) |
22:45  |  [ Making a Mobile Robot #8 - Adding a Lidar
](https://articulatedrobotics.xyz/mobile-robot-8-lidar/) |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-adding-a-lidar-to-
our-robot-making-a-mobile-robot-pt-8/33)  
9  |  [ How to use Cameras in ROS (Sim Camera and Pi Camera)
](https://youtu.be/A3nw2M47K50) |  32:01  |  [ Making a Mobile Robot #9 -
Adding a Camera ](https://articulatedrobotics.xyz/mobile-robot-9-camera/) |  [
Discussion ](https://discourse.articulatedrobotics.xyz/t/discussion-adding-a-
camera-to-our-robot-making-a-mobile-robot-pt-9/34)  
10  |  [ How to get your robot to see in 3D! (Depth Cameras in ROS)
](https://youtu.be/T9xZ22i9-Ys?list=PLunhqkrRNRhYAffV8JDiFOatQXuU-NnxT) |
23:21  |  No blog post  |  [ Discussion
](https://discourse.articulatedrobotics.xyz/t/discussion-depth-cameras-and-
* [ Home ](../..)
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](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) < T > |
[ instantiate
](classrosbag_1_1MessageInstance.html#a369b32708a1a8bdaad133a47152a4885) ()
const  
|  Templated call to instantiate a message. [ More...
](classrosbag_1_1MessageInstance.html#a369b32708a1a8bdaad133a47152a4885)  
  
bool  |  [ isLatching
](classrosbag_1_1MessageInstance.html#a26d1fd480ea164f60329c3225efcb390) ()
const  
template<class T >  
bool  |  [ isType
](classrosbag_1_1MessageInstance.html#a5f3d1284f027c2563cecf7b978207783) ()
const  
|  Test whether the underlying message of the specified type. [ More...
](classrosbag_1_1MessageInstance.html#a5f3d1284f027c2563cecf7b978207783)  
  
uint32_t  |  [ size
](classrosbag_1_1MessageInstance.html#a5184e1aa20069f04edbf4fdf9ad98638) ()
const  
|  Size of serialized message. [ More...
](classrosbag_1_1MessageInstance.html#a5184e1aa20069f04edbf4fdf9ad98638)  
  
template<typename Stream >  
void  |  [ write
](classrosbag_1_1MessageInstance.html#a0bad9d854247962b081c04c0ee2071b4) ( [
Stream ](classrosbag_1_1Stream.html) &stream) const  
|  Write serialized message contents out to a stream. [ More...
](classrosbag_1_1MessageInstance.html#a0bad9d854247962b081c04c0ee2071b4)  
  
  
##  Private Member Functions  
  
---  
|  [ MessageInstance
](classrosbag_1_1MessageInstance.html#a9f9dcd12645def9105d8d53afa8921ae) ( [
ConnectionInfo ](structrosbag_1_1ConnectionInfo.html) const *connection_info,
[ IndexEntry ](structrosbag_1_1IndexEntry.html) const &index, [ Bag
](classrosbag_1_1Bag.html) const &bag)
* [ ROS Toolbox ](../index.html?s_tid=CRUX_lftnav)
  * [ Bag File Logging and Analysis  ](../ros-bag-file-analysis.html?s_tid=CRUX_lftnav)
  * [ ROS Bag File Logging and Analysis  ](../ros-bag-file-logging-and-analysis.html?s_tid=CRUX_lftnav)
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](http://www.ros.org/about-ros) | [ Support ](/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Index ](http://index.ros.org/) | [ Service
Status ](http://status.ros.org/) | [ ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/ros)  
---|---  
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![Documentation](/custom/images/menu_documentation.png) ](/)
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Software](/custom/images/menu_browse_software.png)
](https://index.ros.org/packages) ![](/custom/images/menu_spacer.png) [
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![](/custom/images/menu_right.png)  
  
  * [ rosbag ](/rosbag)
  * [ Tutorials ](/rosbag/Tutorials)
  * [ reading msgs from a bag file ](/rosbag/Tutorials/reading%20msgs%20from%20a%20bag%20file)
##  ◆  MessageInstance()
|  rosbag::MessageInstance::MessageInstance  |  (  |  [ ConnectionInfo
](structrosbag_1_1ConnectionInfo.html) const *  |  _connection_info_ ,  
---|---|---|---  
|  |  [ IndexEntry ](structrosbag_1_1IndexEntry.html) const & |  _index_ ,  
|  |  [ Bag ](classrosbag_1_1Bag.html) const & |  _bag_  
|  )  |  |  
private  
  
Definition at line [ 38 ](message__instance_8cpp_source.html#l00038) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  Member Function Documentation
##  ◆  getCallerId()
string rosbag::MessageInstance::getCallerId  |  (  |  |  )  |  const  
---|---|---|---|---  
  
Definition at line [ 51 ](message__instance_8cpp_source.html#l00051) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  getConnectionHeader()
[ shared_ptr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) < [
ros::M_string
](../../../../api/cpp_common/html/namespaceros.html#a3d75f50002c0066a51761a9bc5102f2b)
> rosbag::MessageInstance::getConnectionHeader  |  (  |  |  )  |  const  
---|---|---|---|---  
  
Definition at line [ 49 ](message__instance_8cpp_source.html#l00049) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  getDataType()
string const & rosbag::MessageInstance::getDataType  |  (  |  |  )  |  const  
---|---|---|---|---  
  
Definition at line [ 45 ](message__instance_8cpp_source.html#l00045) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  getMD5Sum()
string const & rosbag::MessageInstance::getMD5Sum  |  (  |  |  )  |  const  
---|---|---|---|---  
  
Definition at line [ 46 ](message__instance_8cpp_source.html#l00046) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  getMessageDefinition()
string const & rosbag::MessageInstance::getMessageDefinition  |  (  |  |  )  |
const  
---|---|---|---|---  
  
Definition at line [ 47 ](message__instance_8cpp_source.html#l00047) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  getTime()
[ Time ](../../../../api/rostime/html/classros_1_1Time.html) const &
rosbag::MessageInstance::getTime  |  (  |  |  )  |  const  
---|---|---|---|---
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* [ rosbag ](namespacerosbag.html)
  * [ MessageInstance ](classrosbag_1_1MessageInstance.html)
Public Member Functions  |  Private Member Functions  |  Private Attributes  |
Friends  | [ List of all members ](classrosbag_1_1MessageInstance-
members.html)
rosbag::MessageInstance Class Reference
A class pointing into a bag file. [ More...
](classrosbag_1_1MessageInstance.html#details)
` #include < [ message_instance.h ](message__instance_8h_source.html) > `
##  Public Member Functions  
  
---  
std::string  |  [ getCallerId
](classrosbag_1_1MessageInstance.html#a19296e5b4cc26d55fc923be34bac211d) ()
const  
[ boost::shared_ptr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) < [
ros::M_string
](../../../../api/cpp_common/html/namespaceros.html#a3d75f50002c0066a51761a9bc5102f2b)
> |  [ getConnectionHeader
](classrosbag_1_1MessageInstance.html#a31de14637302da546b91123b7d4fcd26) ()
const  
std::string const & |  [ getDataType
](classrosbag_1_1MessageInstance.html#aff3b030c574f3d70ee1ab86d9c19ca60) ()
const  
std::string const & |  [ getMD5Sum
](classrosbag_1_1MessageInstance.html#af90423336da62fe93fed7b870f3b8ddf) ()
const  
std::string const & |  [ getMessageDefinition
](classrosbag_1_1MessageInstance.html#a9ade29c291e338a09835a961177d1569) ()
const  
[ ros::Time ](../../../../api/rostime/html/classros_1_1Time.html) const & |  [
getTime
](classrosbag_1_1MessageInstance.html#ac5e6e1832200a77b1fe8b2434b150306) ()
const  
std::string const & |  [ getTopic
](classrosbag_1_1MessageInstance.html#a2f64c79f7230d0579866d1457648f138) ()
const  
template<class T >  
[ boost::shared_ptr
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[ **[ REP Index ](https://ros.org/reps/rep-0000.html) ** ] [ **[ REP Source
](https://github.com/ros-infrastructure/rep/blob/master/rep-0105.rst) ** ]
REP:  |  105  
---|---  
Title:  |  Coordinate Frames for Mobile Platforms  
Author:  |  Wim Meeussen  
Status:  |  Active  
Type:  |  Informational  
Content-Type:  |  [ text/x-rst ](https://ros.org/reps/rep-0012.html)  
Created:  |  27-Oct-2010  
Post-History:  |  27-Oct-2010  
  
* * *
Contents
  * Abstract 
  * Motivation 
  * Specification 
    * Coordinate Frames 
      * base_link 
      * odom
* [ Power Transmission ](/page_164893.asp)
  * [ Drives & Motors ](/page_164914.asp)
  * [ Controls ](/page_164944.asp)
  * [ Automation ](/page_164974.asp)
  * [ Machine Building & Engineering ](/page_165002.asp)
  * [ IIot & Smart Technology ](/page_849152.asp)
  * [ Industry Sectors ](/page_165030.asp)
* [ Enhanced Performance From Asynchronous Spindle Motors ](https://www.controlsdrivesautomation.com/Enhanced-Performance-From-Asynchronous-Spindle-Mot "Enhanced Performance From Asynchronous Spindle Motors")
  * [ INTEGRATING MOTORS INTO MACHINE DESIGNS ](https://www.controlsdrivesautomation.com/INTEGRATING-MOTORS-INTO-MACHINE-DESIGNS "INTEGRATING MOTORS INTO MACHINE DESIGNS")
  * [ Brushless Servo Motors ](/page_279265.asp "Brushless Servo Motors")
  * [ ESCON 36/3 EC ](/page_280056.asp "ESCON 36/3 EC")
  * [ Drive selection on the Internet with the maxon selection program. ](/page_280064.asp "Drive selection on the Internet with the maxon selection program.")
  * [ Off-the-shelf efficiency ](/page_304548.asp "Off-the-shelf efficiency")
  * [ Maintenance reduced ](/page_334101.asp "Maintenance reduced")
  * [ Solar tracking motors ](/page_373199.asp "Solar tracking motors")
  * [ Less space, more power ](/page_394649.asp "Less space, more power")
  * [ Ultra-compact brushless DC motor ](/page_445310.asp "Ultra-compact brushless DC motor")
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