17 lines
671 B
Text
17 lines
671 B
Text
# A timestamped velocity of a body whose frame is 'body_frame_id', measured
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# relative to the reference frame 'reference_frame_id', with the velocity and
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# covariance both expressed in the basis of the observation frame
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# 'header.frame_id'.
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#
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# - If 'body_frame_id' and 'header.frame_id' are identical, the velocity and
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# covariance are expressed in the body's own basis. This is functionally
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# equivalent to the body-twist convention used by
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# 'geometry_msgs/TwistStamped'.
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#
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# This message is the covariance-bearing analogue of
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# 'geometry_msgs/VelocityStamped'.
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std_msgs/Header header
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string body_frame_id
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string reference_frame_id
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TwistWithCovariance velocity
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