Add WheelOdomMecanum message type (#3)

* Adjust wheel odom message to mecannum wheels Signed-off-by: Bitterisland6 <[email protected]> * Revert "Adjust wheel odom message to mecannum wheels" This reverts commit 53d4a5a. * Add separate message for mecanum odometry Signed-off-by: Bitterisland6 <[email protected]> * changed name of the message file Signed-off-by: Aleksander Szymański <[email protected]> * sort names in CMakeLists file Signed-off-by: Aleksander Szymański <[email protected]> --------- Signed-off-by: Aleksander Szymański <[email protected]>
LeoRover · Aug 2, 2023 · 8c52486 · 8c52486
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commit 8c52486
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diff --git a/leo_msgs/CMakeLists.txt b/leo_msgs/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(FILES
   Imu.msg
   WheelOdom.msg
+  WheelOdomMecanum.msg
   WheelStates.msg
 )
 

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.
+
+time stamp
+float32 velocity_lin_x
+float32 velocity_lin_y
+float32 velocity_ang
+float32 pose_x
+float32 pose_y
+float32 pose_yaw