From 8e2021d545ecd78517eb51fdeed2e8ccdd266a8a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Aleksander=20Szyma=C5=84ski?= Date: Tue, 12 Sep 2023 16:42:57 +0200 Subject: [PATCH] add msg definition for Mecanum Wheel Odometry MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Aleksander Szymański --- leo_msgs/msg/WheelOdomMecanum.msg | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 leo_msgs/msg/WheelOdomMecanum.msg diff --git a/leo_msgs/msg/WheelOdomMecanum.msg b/leo_msgs/msg/WheelOdomMecanum.msg new file mode 100644 index 0000000..485710a --- /dev/null +++ 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. + +time stamp +float32 velocity_lin_x +float32 velocity_lin_y +float32 velocity_ang +float32 pose_x +float32 pose_y +float32 pose_yaw