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Signed-off-by: Alejandro Hernández Cordero <[email protected]> Update geometry_msgs/msg/VelocityStamped.msg Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Alejandro Hernández Cordero <[email protected]> Update geometry_msgs/msg/VelocityStamped.msg Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros2 · Apr 3, 2024 · 021097c · 021097c
1 parent aa70e19
commit 021097c
Showing 1 changed file with 4 additions and 7 deletions.
diff --git a/geometry_msgs/msg/VelocityStamped.msg b/geometry_msgs/msg/VelocityStamped.msg
@@ -1,11 +1,8 @@
-# This expresses the timestamped velocity of a frame 'body_frame_id' in the reference frame 'header.frame_id' expressed from arbitrary observation pose 'observation_pose'.
-# The message is often used in simplified versions where:
-# - observation pose is not defined, i.e., it is assumed that the observation pose is the origin of the 'header.frame_id';
-# - if the observation pose is an established frame, you may set its frame_id only in the pose (since the relative pose to that frame is Identity);
-# - 'body_frame_id' and 'header.frame_id' are identical, i.e., the velocity is observed and defined in the local coordinates system of the body 
-#   which is the usual use-case in mobile robotics.
+# This expresses the timestamped velocity vector of a frame 'body_frame_id' in the reference frame 'reference_frame_id' expressed from arbitrary observation frame 'header.frame_id'.
+# - If the 'body_frame_id' and 'header.frame_id' are identical, the velocity is observed and defined in the local coordinates system of the body
+#   which is the usual use-case in mobile robotics and is also known as a body twist.
 
 std_msgs/Header header
 string body_frame_id
-PoseStamped observation_pose
+string reference_frame_id
 Twist velocity