Create new messages with all fields needed to define a velocity and t…

…ransform it (#240) (#250) Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Co-authored-by: Tully Foote <tullyfoote@intrinsic.ai> (cherry picked from commit 74137fc) Co-authored-by: Alejandro Hernández Cordero <alejandro@openrobotics.org>
ros2 · May 20, 2024 · 2a6d2d1 · 2a6d2d1
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diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt
@@ -43,6 +43,7 @@ set(msg_files
   "msg/TwistWithCovarianceStamped.msg"
   "msg/Vector3.msg"
   "msg/Vector3Stamped.msg"
+  "msg/VelocityStamped.msg"
   "msg/Wrench.msg"
   "msg/WrenchStamped.msg"
 )

diff --git a/geometry_msgs/msg/VelocityStamped.msg b/geometry_msgs/msg/VelocityStamped.msg
@@ -0,0 +1,8 @@
+# This expresses the timestamped velocity vector of a frame 'body_frame_id' in the reference frame 'reference_frame_id' expressed from arbitrary observation frame 'header.frame_id'.
+# - If the 'body_frame_id' and 'header.frame_id' are identical, the velocity is observed and defined in the local coordinates system of the body
+#   which is the usual use-case in mobile robotics and is also known as a body twist.
+
+std_msgs/Header header
+string body_frame_id
+string reference_frame_id
+Twist velocity