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Add an OdometryWithAcceleration message #87

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Add an OdometryWithAcceleration message #87

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63926cc
adding OdometryWithAcceleration needed for REP 147 review
tfoote Jul 12, 2016
56596e9
clarification of twist meaning velocity
tfoote Jul 12, 2016
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4 changes: 2 additions & 2 deletions nav_msgs/msg/Odometry.msg
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
# This represents an estimate of a position and velocity in free space.
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
# The velocity in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
geometry_msgs/TwistWithCovariance twist # velocity but keeping name for backwards compatibility
9 changes: 9 additions & 0 deletions nav_msgs/msg/OdometryWithAcceleration.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
# This represents an estimate of a position, velocity, and acceleration in free space.
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The velocity in this message should be specified in the coordinate frame given by the child_frame_id.
# The acceleration in this message should be specified in the coordinate frame given by the child_frame_id.
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance velocity
geometry_msgs/TwistWithCovariance acceleration