Add support for AckermannDrive message

Signed-off-by: retinfai <[email protected]>

proto/gz/msgs/ackermann_drive.proto

@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2019 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AckermannDriveProtos";
+
+/// \ingroup gz.msgs
+/// \interface AckermannDrive
+/// \brief Command to be sent to ackermann steering system
+
+import "gz/msgs/header.proto";
+
+/// \brief AckermannDrive Command.
+message AckermannDrive
+{
+  /// \brief Optional header data
+  Header header          = 1;
+
+  /// \brief Desired virtual steering angle in [rad]
+  float steering_angle = 2;
+
+  /// \brief Desired rate of change in [rad/s]
+  float steering_angle_velocity = 3;
+
+  /// \brief Desired forward speed in [m/s]
+  float speed = 4;
+
+  /// \brief Desired acceleration in [m/s^2]
+  float acceleration = 5;
+
+  /// \brief Desired jerk in [m/s^3]
+  float jerk = 6;
+
+}