Description
geometry_msgs currently has:
TwistWithCovarianceStamped (includes covariance, but with conventional/implicit frame semantics), andVelocityStamped (fully-qualified velocity semantics via body_frame_id, reference_frame_id, and header.frame_id, but no covariance).
There is no message that combines both:
- fully-qualified velocity semantics and
- uncertainty (6x6 covariance).
Motivation
Applications that perform state estimation, fusion, and frame-aware transforms often require explicit velocity semantics and covariance in the same interface. Without this, users must either:
- lose semantic clarity by using
TwistWithCovarianceStamped, or
- omit uncertainty by using
VelocityStamped.
A dedicated message would close this gap.
Design / Implementation Considerations
The new message should mimic the structure of geometry_msgs/msg/VelocityStamped (i.e., including a body frame ID, reference frame ID, and observation frame ID).
Additional Information
#219 is trying to solve a similar issue by including velocity measurements in sensor_msgs/msg/NavSatFix, but in a perhaps less-general way.
Description
geometry_msgscurrently has:TwistWithCovarianceStamped(includes covariance, but with conventional/implicit frame semantics), andVelocityStamped(fully-qualified velocity semantics viabody_frame_id,reference_frame_id, andheader.frame_id, but no covariance).There is no message that combines both:
Motivation
Applications that perform state estimation, fusion, and frame-aware transforms often require explicit velocity semantics and covariance in the same interface. Without this, users must either:
TwistWithCovarianceStamped, orVelocityStamped.A dedicated message would close this gap.
Design / Implementation Considerations
The new message should mimic the structure of
geometry_msgs/msg/VelocityStamped(i.e., including a body frame ID, reference frame ID, and observation frame ID).Additional Information
#219 is trying to solve a similar issue by including velocity measurements in
sensor_msgs/msg/NavSatFix, but in a perhaps less-general way.