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Create new messages with all fields needed to define a velocity and transform it #233

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Create new messages with all fields needed to define a velocity and transform it #233

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10ac675
Create new messages with all fields needed to defined a velocity and …
destogl Nov 30, 2023
391cb0f
Update geometry_msgs/msg/VelocityStamped
destogl Dec 4, 2023
cc4502f
Suggestions to VelocityStamped
ahcorde Feb 5, 2024
aa70e19
Merge pull request #1 from ahcorde/ahcorde/suggestions/add-velocity-s…
destogl Feb 22, 2024
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1 change: 1 addition & 0 deletions geometry_msgs/CMakeLists.txt
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Expand Up @@ -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"
)
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11 changes: 11 additions & 0 deletions geometry_msgs/msg/VelocityStamped.msg
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@@ -0,0 +1,11 @@
# This expresses the timestamped velocity of a frame 'body_frame_id' in the reference frame 'header.frame_id' expressed from arbitrary observation pose 'observation_pose'.
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# This expresses the timestamped velocity of a frame 'body_frame_id' in the reference frame 'header.frame_id' expressed from arbitrary observation pose 'observation_pose'.
# This expresses the velocity of a frame 'body_frame_id' in the space frame 'space_frame_id' expressed from arbitrary observation pose 'header.frame_id' at time `header.stamp`.

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# This expresses the timestamped velocity of a frame 'body_frame_id' in the reference frame 'header.frame_id' expressed from arbitrary observation pose 'observation_pose'.
# This expresses the timestamped velocity vector of a frame 'body_frame_id' in the reference frame 'reference_frame_id' transformed to be expressed from arbitrary observation frame 'header.frame_id'.

# The message is often used in simplified versions where:
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# The message is often used in simplified versions where:

With the removal of the PoseStamped and only using the frame_ids this optional version is no longer necessary.

# - observation pose is not defined, i.e., it is assumed that the observation pose is the origin of the 'header.frame_id';
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# - observation pose is not defined, i.e., it is assumed that the observation pose is the origin of the 'header.frame_id';
# - If the 'space_frame_id' and 'header.frame_id' are identical, i.e., the velocity is observed and defined in the local coordinates system of the spacial frame.

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# - observation pose is not defined, i.e., it is assumed that the observation pose is the origin of the 'header.frame_id';

Also removed

# - if the observation pose is an established frame, you may set its frame_id only in the pose (since the relative pose to that frame is Identity);
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# - if the observation pose is an established frame, you may set its frame_id only in the pose (since the relative pose to that frame is Identity);
# This is also known as a spacial twist.

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# - if the observation pose is an established frame, you may set its frame_id only in the pose (since the relative pose to that frame is Identity);

Also removed

# - 'body_frame_id' and 'header.frame_id' are identical, i.e., the velocity is observed and defined in the local coordinates system of the body
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# - 'body_frame_id' and 'header.frame_id' are identical, i.e., the velocity is observed and defined in the local coordinates system of the body
# - If the 'body_frame_id' and 'header.frame_id' are identical, i.e., the velocity is observed and defined in the local coordinates system of the body

# which is the usual use-case in mobile robotics.
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# which is the usual use-case in mobile robotics.
# 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
PoseStamped observation_pose
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PoseStamped observation_pose
string space_frame_id

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PoseStamped observation_pose
string reference_frame_id

Changing this to reference as this is the frame of reference to which the velocity is being measured.

Twist velocity