Skip to content

Add geometry_msgs/msg/VelocityWithCovarianceStamped #323

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ethanmusser wants to merge 3 commits into
base: rolling
Choose a base branch
from
+15 −0
Open

Add geometry_msgs/msg/VelocityWithCovarianceStamped #323

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
d6f1d70
Add `geometry_msgs::VelocityWithCovarianceStamped`
ethanmusser Apr 2, 2026
3f798be
Document `geometry_msgs::Velocity*` in `README.md`
ethanmusser Apr 2, 2026
b5066f2
Combine vel. and cov. with `TwistWithCovariance`
ethanmusser Apr 20, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions geometry_msgs/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ set(msg_files
"msg/Vector3.msg"
"msg/Vector3Stamped.msg"
"msg/VelocityStamped.msg"
"msg/VelocityWithCovarianceStamped.msg"
"msg/Wrench.msg"
"msg/WrenchStamped.msg"
)
Expand Down
2 changes: 2 additions & 0 deletions geometry_msgs/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@ For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros
* [TwistWithCovarianceStamped](msg/TwistWithCovarianceStamped.msg): An estimated twist with reference coordinate frame and timestamp.
* [Vector3](msg/Vector3.msg): Represents a vector in 3-dimensional free space.
* [Vector3Stamped](msg/Vector3Stamped.msg): Represents a Vector3 with reference coordinate frame and timestamp.
* [VelocityStamped](msg/VelocityStamped.msg): A fully-qualified velocity in 3-dimensional space with timestamp.
Copy link
Copy Markdown
Collaborator

@fujitatomoya fujitatomoya Apr 3, 2026

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

this one is actually just missing, good eye!

* [VelocityWithCovarianceStamped](msg/VelocityWithCovarianceStamped.msg): A fully-qualified velocity in 3-dimensional space with uncertainty and timestamp.
* [Wrench](msg/Wrench.msg): Represents force in free space, separated into its linear and angular parts.
* [WrenchStamped](msg/WrenchStamped.msg): A wrench with reference coordinate frame and timestamp.

Expand Down
18 changes: 18 additions & 0 deletions geometry_msgs/msg/VelocityWithCovarianceStamped.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
# This expresses the timestamped velocity vector of a frame
# 'body_frame_id' in the reference frame 'reference_frame_id' expressed
# from arbitrary observation frame 'header.frame_id' with uncertainty.
# - If 'body_frame_id' and 'header.frame_id' are identical, the velocity
# is observed and defined in the local coordinate system of the body,
# which is the usual use case in mobile robotics and is also known as
# a body twist.

std_msgs/Header header
string body_frame_id
string reference_frame_id
Twist velocity
Comment thread
ethanmusser marked this conversation as resolved.
Outdated

# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance