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 1/3] 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 From 1538da3ac8e86da6226bfa4ca3a116d492e20401 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Aleksander=20Szyma=C5=84ski?= Date: Tue, 12 Sep 2023 16:46:25 +0200 Subject: [PATCH 2/3] include new msg file in CMakeLists file MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Aleksander Szymański --- leo_msgs/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/leo_msgs/CMakeLists.txt b/leo_msgs/CMakeLists.txt index 5e3bf05..993e71a 100644 --- 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 From 3c354b3e0a0447e63511db3c49b8bd5707a203b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Aleksander=20Szyma=C5=84ski?= Date: Tue, 12 Sep 2023 16:56:44 +0200 Subject: [PATCH 3/3] fix field type in message definition 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 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/leo_msgs/msg/WheelOdomMecanum.msg b/leo_msgs/msg/WheelOdomMecanum.msg index 485710a..cb050a5 100644 --- a/leo_msgs/msg/WheelOdomMecanum.msg +++ b/leo_msgs/msg/WheelOdomMecanum.msg @@ -5,7 +5,7 @@ # # The coordinate frame that represents the robot is located at the center of rotation. -time stamp +builtin_interfaces/Time stamp float32 velocity_lin_x float32 velocity_lin_y float32 velocity_ang