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Create new messages with all fields needed to define a velocity and transform it #240

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merged 5 commits into from
Apr 10, 2024
Merged

Create new messages with all fields needed to define a velocity and transform it #240

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10ac675
Create new messages with all fields needed to defined a velocity and …
destogl Nov 30, 2023
391cb0f
Update geometry_msgs/msg/VelocityStamped
destogl Dec 4, 2023
cc4502f
Suggestions to VelocityStamped
ahcorde Feb 5, 2024
aa70e19
Merge pull request #1 from ahcorde/ahcorde/suggestions/add-velocity-s…
destogl Feb 22, 2024
021097c
Added feedback
ahcorde Apr 2, 2024
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1 change: 1 addition & 0 deletions geometry_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ set(msg_files
"msg/TwistWithCovarianceStamped.msg"
"msg/Vector3.msg"
"msg/Vector3Stamped.msg"
"msg/VelocityStamped.msg"
"msg/Wrench.msg"
"msg/WrenchStamped.msg"
)
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8 changes: 8 additions & 0 deletions geometry_msgs/msg/VelocityStamped.msg
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@@ -0,0 +1,8 @@
# 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
string reference_frame_id
Twist velocity