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add covariance fields to imu message #333

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merged 4 commits into from
Aug 2, 2023
Merged

add covariance fields to imu message #333

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d1ae152
add covariance fields to imu message
ejalaa12 Mar 15, 2023
0fc99bb
re-order msg fields and doc to stick to ros convention
ejalaa12 Apr 11, 2023
7b81505
Merge branch 'main' into gz-msgs9
mjcarroll Jul 25, 2023
ad212aa
Merge branch 'main' into gz-msgs9
mjcarroll Aug 1, 2023
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20 changes: 15 additions & 5 deletions proto/gz/msgs/imu.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -27,14 +27,24 @@ option java_outer_classname = "IMUProtos";
import "gz/msgs/header.proto";
import "gz/msgs/vector3d.proto";
import "gz/msgs/quaternion.proto";
import "gz/msgs/float_v.proto";

message IMU
{
/// \brief Optional header data
Header header = 1;
Header header = 1;

string entity_name = 2;

string entity_name = 2;
Quaternion orientation = 3;
Vector3d angular_velocity = 4;
Vector3d linear_acceleration = 5;
Quaternion orientation = 3;
/// Row major about x, y, z
Float_V orientation_covariance = 4;

Vector3d angular_velocity = 5;
/// Row major about x, y, z
Float_V angular_velocity_covariance = 6;

Vector3d linear_acceleration = 7;
/// Row major about x, y, z
Float_V linear_acceleration_covariance = 8;
}