Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/Odometry.cs

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+using RobotNet10.Shared;
+using RobotNet10.Shared.Geometry;
+
+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// Odometry message (nav_msgs/Odometry)
+/// 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.
+/// </summary>
+public struct Odometry
+{
+    /// <summary>
+    /// Header with timestamp and frame ID (parent frame, typically "odom")
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// Child frame ID (typically "base_link" or "base_footprint")
+    /// </summary>
+    public string ChildFrameId { get; set; }
+
+    /// <summary>
+    /// Pose with covariance (PoseWithCovariance)
+    /// </summary>
+    public PoseWithCovariance Pose { get; set; }
+
+    /// <summary>
+    /// Twist with covariance (TwistWithCovariance)
+    /// </summary>
+    public TwistWithCovariance Twist { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public Odometry()
+    {
+        Header = new Header();
+        ChildFrameId = string.Empty;
+        Pose = new PoseWithCovariance();
+        Twist = new TwistWithCovariance();
+    }
+
+    /// <summary>
+    /// Constructor with parameters
+    /// </summary>
+    public Odometry(Header header, string childFrameId, PoseWithCovariance pose, TwistWithCovariance twist)
+    {
+        Header = header;
+        ChildFrameId = childFrameId;
+        Pose = pose;
+        Twist = twist;
+    }
+}
+