// # This represents an estimate of a position and velocity in free space.  
// # The pose in this message should be specified in the coordinate frame given by header.frame_id.
// # The twist in this message should be specified in the coordinate frame given by the child_frame_id
// Header header
// string child_frame_id
// geometry_msgs/PoseWithCovariance pose
// geometry_msgs/TwistWithCovariance twist
#ifndef ODOMETRY_H
#define ODOMETRY_H

#include <cstdint>
#include <string>
#include <vector>
#include "std_msgs/Header.h"
#include "geometry_msgs/Point.h"
#include <geometry_msgs/PoseWithCovariance.h>
#include <geometry_msgs/TwistWithCovariance.h>

namespace nav_msgs
{

struct Odometry
{
    std_msgs::Header header;
    std::string child_frame_id;
    geometry_msgs::PoseWithCovariance pose;
    geometry_msgs::TwistWithCovariance twist;
};

}

#endif //ODOMETRY_H