# Message type for timed physical action?

The standard Twist message is used for communicating linear and angular velocity and is often used for telling a motor controller how fast to go. However, it doesn't specify a period of time when this should be applied.

is there any standard message type that encapsulates Twist, but also adds a time period? e.g. So you could specify "go forward at a velocity for 1m/sec for 30 seconds".

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I don't believe there are standard msgs for this, as a typical use of Twists is to just stop publishing them whenever something needs to stop. Implicitly, the publisher of Twists is controlling the time the subscriber should move that way (this is how most teleop implementations work fi). ..