multi: added imu related messages

CMakeLists.txt

@@ -14,6 +14,10 @@ add_message_files(
   gnss_fix.msg
   gnss_position.msg
   gnss_track.msg
+  accelerometer.msg
+  gyroscope.msg
+  magnetometer.msg
+  temperature.msg
 )
 
 # Add service files.

msg/accelerometer.msg

@@ -0,0 +1,5 @@
+# A 3D measurement of linear acceleration.
+
+float64 x           # The linear acceleration in the X direction [m/s^2]
+float64 y           # The linear acceleration in the Y direction [m/s^2]
+float64 z           # The linear acceleration in the Z direction [m/s^2]

msg/gyroscope.msg

@@ -0,0 +1,5 @@
+# A 3D measurement of angular velocity.
+
+float64 x           # The angular velocity about the X axis [rad/s]
+float64 y           # The angular velocity about the Y axis [rad/s]
+float64 z           # The angular velocity about the Z axis [rad/s]

msg/magnetometer.msg

@@ -0,0 +1,5 @@
+# A 3D measurement of the local magnetic field.
+
+float64 x           # The magnetic field strength in the X direction [T]
+float64 y           # The magnetic field strength in the Y direction [T]
+float64 z           # The magnetic field strength in the Z direction [T]

msg/temperature.msg

@@ -0,0 +1,3 @@
+# Indicates an instantaneous temperature reading.
+
+float64 temperature     # The measured temperature [C]