Messages for velocity and acceleration

asked 2012-02-20 21:05:25 -0600

LucaGhera
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Hi all,

is there a message which contains linear and rotational velocities and accelerations on the three axis?

I toke a look in the geometry and navigation messages but I didn't find what I need.

I'm looking for something similar to geometry_msgs::Twist + accelerations.

Thanks!

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answered 2012-02-20 21:13:45 -0600

Enrique

834 ●22 ●28 ●37

Hi,

You might take a look at the sensor_msgs::Imu here. It comes with angular_velocity and linear_acceleration fields. It doesn't have linear velocities though.

If you are using an IMU, that's what you are looking for. Otherwise, to my best knowledge, you'll have to make your own msg (see here how to do so).

Enrique

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@Enrique Thanks, actually I have to send the velocities and accelerations of my mobile base. It isn't an IMU. I know how to make new messages, however I was looking for an existing solution in order to reuse as much as I can.

LucaGhera ( 2012-02-20 21:51:31 -0600 )edit

I would recommend publishing both TwistStamped and Imu topics simultaneously, with identical time stamps.

joq ( 2012-02-21 04:26:48 -0600 )edit

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answered 2012-02-21 02:59:02 -0600

DimitriProsser

11163 ●79 ●116 ●169

The geometry_msgs/Twist message provides with linear and angular velocities, but that's the closest one that I know of by default. The easiest I can think of is something like:

geometry_msgs/Twist velocities
geometry_msgs/Vector3 accelerations

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