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geometry_msgs/Twist is for velocities, geometry_msgs/Pose is for position and orientation.
nav_msgs/Odometry contains both together with covariances (whereas designed for other purpose).
If you just need Twist and Pose together, you can easily design your own message.
There is a message called JointMessage under common_msgs/sensor_msgs. It is defined as follows:
Header header
string[] name
float64[] position
float64[] velocity
float64[] effort
I'm unclear as to what name means but the other parameters are defined as:
# The state of each joint (revolute or prismatic) is defined by:
# * the position of the joint (rad or m),
# * the velocity of the joint (rad/s or m/s) and
# * the effort that is applied in the joint (Nm or N).
Since these parameters are arrays they should suffice for your needs.
Asked: 2012-03-25 15:42:53 -0500
Seen: 4,348 times
Last updated: Mar 26 '12
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