velocity_stamped.hpp

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namespace geometry_msgs::msg {
class VelocityStamped {
public:
    // 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::msg::Header header;
    std::string body_frame_id;
    std::string reference_frame_id;
    msg::Twist velocity;
};
} // namespace geometry_msgs::msg