From 017cf581058bccf60f4af500c6ab2ac538b2ccc3 Mon Sep 17 00:00:00 2001 From: "cesar.alejandro" Date: Tue, 1 Mar 2022 18:07:35 +0000 Subject: [PATCH] Upload files to 'msg' --- msg/RefSignal.msg | 8 ++++++++ msg/tethered_status.msg | 12 ++++++++++++ 2 files changed, 20 insertions(+) create mode 100644 msg/RefSignal.msg create mode 100644 msg/tethered_status.msg diff --git a/msg/RefSignal.msg b/msg/RefSignal.msg new file mode 100644 index 0000000..65253d4 --- /dev/null +++ b/msg/RefSignal.msg @@ -0,0 +1,8 @@ +# Contains array of smooth path signal at a given time +# ref sign contains des pos, vel, and acc +# +#std_msgs/Header header # Timestamp +geometry_msgs/Vector3 position # Desired pos +geometry_msgs/Vector3 velocity # Desired vel +geometry_msgs/Vector3 acceleration # Desired acc + diff --git a/msg/tethered_status.msg b/msg/tethered_status.msg new file mode 100644 index 0000000..2d50d4b --- /dev/null +++ b/msg/tethered_status.msg @@ -0,0 +1,12 @@ +# Reports position of drone, payload, and the roll angle between them +std_msgs/Header header # Header +string drone_id # Drone ID +geometry_msgs/Pose drone_pos # Drone pose +# sensor_msgs/Imu drone_acc # Drone linear acceleration +string pload_id # Payload ID +geometry_msgs/Pose pload_pos # Payload pose +float32 length # Tether length +float32 phi # Roll angle between drone and pload +float32 phidot # Roll rate +float32 theta # Pitch angle between drone and pload +float32 thetadot # Pitch rate