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15 lines
559 B
15 lines
559 B
syntax = "proto2";
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package nav_msgs.msgs;
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import "quaternion.proto";
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import "vector3d.proto";
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message Odometry
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{
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required int64 time_usec = 1;
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required gazebo.msgs.Vector3d position = 2;
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required gazebo.msgs.Quaternion orientation = 3;
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required gazebo.msgs.Vector3d linear_velocity = 4;
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required gazebo.msgs.Vector3d angular_velocity = 5;
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repeated float pose_covariance = 6 [packed=true]; // x.y.z.r.p.y.
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repeated float velocity_covariance = 7 [packed=true]; // vx.vy.vz.rr.pr.yr
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}
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