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- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps) - individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
10 lines
434 B
Plaintext
10 lines
434 B
Plaintext
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
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float32[3] xyz # Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s
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float32[3] xyz_derivative # angular acceleration about the FRD body frame XYZ-axis in rad/s^2
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# TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth
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