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Mecanum Wheel Odom message #3

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merged 3 commits into from
Sep 13, 2023
Merged

Mecanum Wheel Odom message #3

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8e2021d
add msg definition for Mecanum Wheel Odometry
Bitterisland6 Sep 12, 2023
1538da3
include new msg file in CMakeLists file
Bitterisland6 Sep 12, 2023
3c354b3
fix field type in message definition
Bitterisland6 Sep 12, 2023
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1 change: 1 addition & 0 deletions leo_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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14 changes: 14 additions & 0 deletions leo_msgs/msg/WheelOdomMecanum.msg
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@@ -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
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