From c93a391525514ca6bf4e6b7808a7779090cddd11 Mon Sep 17 00:00:00 2001
From: Sadanand Modak <sadanandm@utexas.edu>
Date: Mon, 11 Nov 2024 20:13:53 -0600
Subject: [PATCH] add ldos msgs

---
 CMakeLists.txt           |  3 +++
 msg/LDOSLaserScan.msg    | 13 +++++++++++++
 msg/LDOSLocalization.msg |  6 ++++++
 msg/LDOSTwist.msg        |  5 +++++
 4 files changed, 27 insertions(+)
 create mode 100644 msg/LDOSLaserScan.msg
 create mode 100644 msg/LDOSLocalization.msg
 create mode 100644 msg/LDOSTwist.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fd7d319..5f3f84d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,9 @@ elseif(${ROS_VERSION} EQUAL "2")
     "msg/RobofleetSubscription.msg"
     "msg/TurtlebotDockStatus.msg"
     "msg/VisualizationMsg.msg"
+    "msg/LDOSLaserScan.msg"
+    "msg/LDOSLocalization.msg"
+    "msg/LDOSTwist.msg"
     "srv/ObjectDetectionSrv.srv"
     "srv/SocialPipsSrv.srv"
     "action/TurtlebotDock.action"
diff --git a/msg/LDOSLaserScan.msg b/msg/LDOSLaserScan.msg
new file mode 100644
index 0000000..d806af8
--- /dev/null
+++ b/msg/LDOSLaserScan.msg
@@ -0,0 +1,13 @@
+# LDOS wrapper on sensor_msgs/LaserScan
+string anyinfo
+int64 sys_nano_time
+std_msgs/Header header
+float32 angle_min
+float32 angle_max
+float32 angle_increment
+float32 time_increment
+float32 scan_time
+float32 range_min
+float32 range_max
+float32[] ranges
+float32[] intensities
\ No newline at end of file
diff --git a/msg/LDOSLocalization.msg b/msg/LDOSLocalization.msg
new file mode 100644
index 0000000..1c03acc
--- /dev/null
+++ b/msg/LDOSLocalization.msg
@@ -0,0 +1,6 @@
+# LDOS wrapper on amrl_msgs/Localization2DMsg
+string anyinfo
+int64 sys_nano_time
+std_msgs/Header header
+amrl_msgs/Pose2Df pose
+string map
\ No newline at end of file
diff --git a/msg/LDOSTwist.msg b/msg/LDOSTwist.msg
new file mode 100644
index 0000000..1cf0b35
--- /dev/null
+++ b/msg/LDOSTwist.msg
@@ -0,0 +1,5 @@
+# LDOS wrapper on geometry_msgs/Twist
+string anyinfo
+int64 sys_nano_time
+geometry_msgs/Vector3 linear
+geometry_msgs/Vector3 angular
\ No newline at end of file