Raw Message Definition
# This message represents feedback data from a single drive unit (driver + motor).
# Current flowing from battery into the MOSFET bridge.
# Instantaneous duty cycle of MOSFET bridge.
# Temperatures measured in the MOSFET bridge and on the motor casing, in deg C.
# Encoder data
float32 measured_velocity # rad/s
float32 measured_travel # rad
# True if the underlying driver chip reports a fault condition.
Compact Message Definition