Mecanum Wheel Odom message (#3)

* add msg definition for Mecanum Wheel Odometry Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com> * include new msg file in CMakeLists file Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com> * fix field type in message definition Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com> --------- Signed-off-by: Aleksander Szymański <bitterisland6@gmail.com>
LeoRover · Sep 13, 2023 · 0c044b4 · 0c044b4
1 parent 9ba77ab
commit 0c044b4
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diff --git a/leo_msgs/CMakeLists.txt b/leo_msgs/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(builtin_interfaces REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Imu.msg"
   "msg/WheelOdom.msg"
+  "msg/WheelOdomMecanum.msg"
   "msg/WheelStates.msg"
   "srv/SetImuCalibration.srv"
   DEPENDENCIES builtin_interfaces

diff --git a/leo_msgs/msg/WheelOdomMecanum.msg b/leo_msgs/msg/WheelOdomMecanum.msg
@@ -0,0 +1,14 @@
+# This message represents the pose and velocity of a mecanum wheeled robot, estimated from the wheel encoders.
+#
+# The velocity_* fields represent the linear and angular velocity of the robot.
+# The pose_* fields represent the x, y and yaw pose of the robot w.r.t. the starting pose.
+#
+# The coordinate frame that represents the robot is located at the center of rotation.
+
+builtin_interfaces/Time stamp
+float32 velocity_lin_x
+float32 velocity_lin_y
+float32 velocity_ang
+float32 pose_x
+float32 pose_y
+float32 pose_yaw