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Position and Velocity

asked 2012-03-25 15:42:53 -0600

David Lu gravatar image

Is there a standard-ish message that represents an object's 3d position and 3d velocity?

[insert Heisenberg joke here]

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answered 2012-03-26 01:04:32 -0600

Stephan gravatar image

updated 2012-03-26 01:13:04 -0600

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.

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answered 2012-03-25 16:12:04 -0600

Dustin gravatar image

updated 2012-03-25 16:20:01 -0600

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.

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I would not recommend using JointState to describe object position an velocity, there are other msgs that are designed for that. (The name field in JointState contains the joint's names.)

Stephan gravatar image Stephan  ( 2012-03-26 01:06:09 -0600 )edit

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Asked: 2012-03-25 15:42:53 -0600

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Last updated: Mar 26 '12