File: auv_msgs/BodyForceRequest.msg
Raw Message Definition
# Body frame vehicle velocity request.
# No coordinate units, values range +/- 1.
# NB: Coordinate frame used is ROS standard [forward, left, up],
# to simplify integration with arm control systems.
# header.frame_id should be set to the base_link frame of the vehicle.
Header header
geometry_msgs/Wrench wrench
# Axes of control to disable, in body frame.
bool[6] disable_axis # x y z r p y
Compact Message Definition