# New perception architecture: message types

**URL:** <https://discourse.openrobotics.org/t/new-perception-architecture-message-types/8564>\
**Category:** Autoware\
**Created:** [April 2, 2019, 6:34am UTC](https://discourse.openrobotics.org/t/new-perception-architecture-message-types/8564 "2019-04-02T06:34:02Z")\
**Posts on this page:** 1\
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**Author:** ![JWhitleyWork](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jwhitleywork/32/5614_2.png) [@JWhitleyWork](https://discourse.openrobotics.org/u/JWhitleyWork)\
**Post date:** [April 8, 2019, 12:01pm UTC](https://discourse.openrobotics.org/t/new-perception-architecture-message-types/8564/9 "2019-04-08T12:01:25Z")

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@Kosuke_MURAKAMI - Please see [derived\_object\_msgs/ObjectWithCovariance Documentation](http://docs.ros.org/melodic/api/derived_object_msgs/html/msg/ObjectWithCovariance.html) for a version which contains the PoseWithCovariance, TwistWithCovariance, and AccelWithCovariance. The uuid is definitely a useful addition that we had not considered and would be happy to add. This was the intent of the “id” field but it is somewhat limited as an int.

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