From 8c52486938278b5f5f626ef0ecf273638ee0fc02 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Aleksander=20Szyma=C5=84ski?= Date: Wed, 2 Aug 2023 16:33:28 +0200 Subject: [PATCH] Add WheelOdomMecanum message type (#3) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Adjust wheel odom message to mecannum wheels Signed-off-by: Bitterisland6 * Revert "Adjust wheel odom message to mecannum wheels" This reverts commit 53d4a5a82a97464fa591ae3fc7b8115d793b8983. * Add separate message for mecanum odometry Signed-off-by: Bitterisland6 * changed name of the message file Signed-off-by: Aleksander Szymański * sort names in CMakeLists file Signed-off-by: Aleksander Szymański --------- Signed-off-by: Aleksander Szymański --- leo_msgs/CMakeLists.txt | 1 + leo_msgs/msg/WheelOdomMecanum.msg | 14 ++++++++++++++ 2 files changed, 15 insertions(+) create mode 100644 leo_msgs/msg/WheelOdomMecanum.msg diff --git a/leo_msgs/CMakeLists.txt b/leo_msgs/CMakeLists.txt index 3a7dd6e..7d3b290 100644 --- 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 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