Create new messages with all fields needed to define a velocity and t…

…ransform it (#240)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>
Co-authored-by: Tully Foote <tullyfoote@intrinsic.ai>

geometry_msgs/CMakeLists.txt

@@ -45,6 +45,7 @@ set(msg_files
   "msg/TwistWithCovarianceStamped.msg"
   "msg/Vector3.msg"
   "msg/Vector3Stamped.msg"
+  "msg/VelocityStamped.msg"
   "msg/Wrench.msg"
   "msg/WrenchStamped.msg"
 )

geometry_msgs/msg/VelocityStamped.msg

@@ -0,0 +1,8 @@
+# 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'.
+# - If the 'body_frame_id' and 'header.frame_id' are identical, the velocity is observed and defined in the local coordinates 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