syntax = "proto2";
package nav_msgs.msgs;
import "quaternion.proto";
import "vector3d.proto";

message Odometry
{
  required int64 time_usec                       = 1;
  required gazebo.msgs.Vector3d position         = 2;
  required gazebo.msgs.Quaternion orientation    = 3;
  required gazebo.msgs.Vector3d linear_velocity  = 4;
  required gazebo.msgs.Vector3d angular_velocity = 5;
  repeated float pose_covariance                 = 6 [packed=true]; // x.y.z.r.p.y.
  repeated float velocity_covariance             = 7 [packed=true]; // vx.vy.vz.rr.pr.yr
}