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Does anyone use a standard inertia message type?

asked 2014-01-24 08:22:47 -0500

jbohren gravatar image

updated 2014-01-26 10:32:14 -0500

I'm passing around dynamical properties (masses, inertias, etc) and there's no standard ROS message for a rigid body inertia with a coordinate frame and timestamp. Something like the following would be good (and simple):


# Mass [kg]
Float64 m
# First mass moment [kg-m]
geometry_msgs/Vector3 h
# Inertia Tensor [kg-m^2]
#     | ixx ixy ixz |
# I = | ixy iyy iyz |
#     | ixz iyz izz |
Float64 ixx
Float64 ixy
Float64 ixz
Float64 iyy
Float64 iyz
Float64 izz


Header header
Inertia inertia

Anyone already using something like this? Maybe we could standardize it?

Update: Changed representation to use first mass moment instead of center of mass.

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1 Answer

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answered 2014-01-25 12:15:00 -0500

Seems like a good idea. Maybe propose it to ?

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Asked: 2014-01-24 08:22:47 -0500

Seen: 205 times

Last updated: Jan 26 '14