Grid
A two-dimensional grid of data.
Panel Support
Grid is used in the 3D Panel and Image Panel.
Data Structure
| Field | Type | Description |
|---|---|---|
| timestamp | time | Timestamp of the grid |
| frame_id | string | Reference coordinate system |
| pose | Pose | Position of the grid origin relative to the reference coordinate system; the grid is positioned in the x-y plane relative to this origin |
| column_count | uint32 | Number of columns in the grid |
| cell_size | Vector2 | Size of a single grid cell along the x and y axes, relative to the pose |
| row_stride | uint32 | Number of bytes between rows in the data |
| cell_stride | uint32 | Number of bytes between cells within a row in the data |
| fields | PackedElementField[] | Fields in the data. red, green, blue, and alpha are optional for customizing the color of the grid |
| data | bytes | Grid cell data, interpreted using fields, arranged in row-major (y-major) order |
Reference Implementation
The visualization data structure is framework-independent and can be implemented using any supported message encoding:
| Encoding | Data Structure |
|---|---|
| ROS 1 | foxglove_msgs/Grid |
| ROS 2 | foxglove_msgs/msg/Grid |
| JSON | foxglove.Grid |
| Protobuf | foxglove.Grid |
| FlatBuffers | foxglove.Grid |
| OMG IDL | foxglove::Grid |
You must use the data structure names specified above for the visualization to recognize the data structure.