From c98a424dbfe18da25370fc6c6fa07a3834562ec6 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Thu, 12 Oct 2023 18:24:33 -0700
Subject: [PATCH 01/10] Added new helpers and modified HelperAISShip.msg to
 include more data from AIS

---
 msg/HelperAISShip.msg    | 5 +++--
 msg/HelperCOG.msg        | 2 ++
 msg/HelperDimensions.msg | 4 ++++
 msg/HelperSOG.msg        | 2 ++
 4 files changed, 11 insertions(+), 2 deletions(-)
 create mode 100644 msg/HelperCOG.msg
 create mode 100644 msg/HelperDimensions.msg
 create mode 100644 msg/HelperSOG.msg

diff --git a/msg/HelperAISShip.msg b/msg/HelperAISShip.msg
index e1212b6..2de3be2 100644
--- a/msg/HelperAISShip.msg
+++ b/msg/HelperAISShip.msg
@@ -1,5 +1,6 @@
 # AIS identifier
 int32 id
 HelperLatLon lat_lon
-HelperSpeed speed
-HelperHeading heading
+HelperCOG   COG
+HelperSOG   SOG
+HelperDimensions dimensions
diff --git a/msg/HelperCOG.msg b/msg/HelperCOG.msg
new file mode 100644
index 0000000..d93e143
--- /dev/null
+++ b/msg/HelperCOG.msg
@@ -0,0 +1,2 @@
+# Unit: decimal degrees
+float32 COG
diff --git a/msg/HelperDimensions.msg b/msg/HelperDimensions.msg
new file mode 100644
index 0000000..f5a963c
--- /dev/null
+++ b/msg/HelperDimensions.msg
@@ -0,0 +1,4 @@
+# Unit: meters
+float32 width
+# Unit: meters
+float32 length
diff --git a/msg/HelperSOG.msg b/msg/HelperSOG.msg
new file mode 100644
index 0000000..32d6515
--- /dev/null
+++ b/msg/HelperSOG.msg
@@ -0,0 +1,2 @@
+# Unit: km/h
+float32 SOG

From 0e14d5ac9147ba8f26d10b4bd514a477b0b8f43f Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Thu, 12 Oct 2023 19:03:34 -0700
Subject: [PATCH 02/10] updated COG variable name to cog

---
 msg/HelperAISShip.msg | 4 ++--
 msg/HelperCOG.msg     | 2 +-
 msg/HelperSOG.msg     | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/msg/HelperAISShip.msg b/msg/HelperAISShip.msg
index 2de3be2..77cfe45 100644
--- a/msg/HelperAISShip.msg
+++ b/msg/HelperAISShip.msg
@@ -1,6 +1,6 @@
 # AIS identifier
 int32 id
 HelperLatLon lat_lon
-HelperCOG   COG
-HelperSOG   SOG
+HelperCOG   cog
+HelperSOG   sog
 HelperDimensions dimensions
diff --git a/msg/HelperCOG.msg b/msg/HelperCOG.msg
index d93e143..165d971 100644
--- a/msg/HelperCOG.msg
+++ b/msg/HelperCOG.msg
@@ -1,2 +1,2 @@
 # Unit: decimal degrees
-float32 COG
+float32 cog
diff --git a/msg/HelperSOG.msg b/msg/HelperSOG.msg
index 32d6515..04c73ab 100644
--- a/msg/HelperSOG.msg
+++ b/msg/HelperSOG.msg
@@ -1,2 +1,2 @@
 # Unit: km/h
-float32 SOG
+float32 sog

From 3bd88402b451ac53a081fb27972f30a376bb76e4 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Fri, 13 Oct 2023 11:40:39 -0700
Subject: [PATCH 03/10] added new interfaces to CMakeLists.txt ```

---
 CMakeLists.txt | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3506741..81d40a8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,6 +32,9 @@ set(common_msg
   "msg/HelperHeading.msg"
   "msg/HelperLatLon.msg"
   "msg/HelperSpeed.msg"
+  "msg/HelperCOG.msg"
+  "msg/HelperSOG.msg"
+  "msg/HelperDimensions.msg"
 )
 
 # Boat simulator custom messages

From 0f3acfdc71f0efc5925e8c2880a68029704b2c26 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Fri, 13 Oct 2023 16:32:37 -0700
Subject: [PATCH 04/10] added rot to AIS ship info

---
 CMakeLists.txt        | 1 +
 msg/HelperAISShip.msg | 1 +
 msg/HelperROT.msg     | 3 +++
 3 files changed, 5 insertions(+)
 create mode 100644 msg/HelperROT.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 81d40a8..ee04483 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,6 +35,7 @@ set(common_msg
   "msg/HelperCOG.msg"
   "msg/HelperSOG.msg"
   "msg/HelperDimensions.msg"
+  "msg/HelperROT.msg"
 )
 
 # Boat simulator custom messages
diff --git a/msg/HelperAISShip.msg b/msg/HelperAISShip.msg
index 77cfe45..9761d8a 100644
--- a/msg/HelperAISShip.msg
+++ b/msg/HelperAISShip.msg
@@ -3,4 +3,5 @@ int32 id
 HelperLatLon lat_lon
 HelperCOG   cog
 HelperSOG   sog
+HelperROT   rot
 HelperDimensions dimensions
diff --git a/msg/HelperROT.msg b/msg/HelperROT.msg
new file mode 100644
index 0000000..334818b
--- /dev/null
+++ b/msg/HelperROT.msg
@@ -0,0 +1,3 @@
+# Unit: -126 to 126 ROTAIS scale corresponds to -708 to 708 degrees per min
+# ROTAIS = 4.733 * sqrt (rot [degrees/min])
+float32 rot

From 0ddf8142d2d7ce6a07c29f457fe5279586f58ed3 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Mon, 16 Oct 2023 18:59:46 -0700
Subject: [PATCH 05/10] added a space

---
 msg/HelperROT.msg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/msg/HelperROT.msg b/msg/HelperROT.msg
index 334818b..fb22852 100644
--- a/msg/HelperROT.msg
+++ b/msg/HelperROT.msg
@@ -1,3 +1,3 @@
-# Unit: -126 to 126 ROTAIS scale corresponds to -708 to 708 degrees per min
+# Unit: -126 to 126 ROT AIS scale corresponds to -708 to 708 degrees per min
 # ROTAIS = 4.733 * sqrt (rot [degrees/min])
 float32 rot

From 7436387ad55c6941ee98906114571d5178f5b6c7 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Tue, 17 Oct 2023 14:48:00 -0700
Subject: [PATCH 06/10] Implemented changes from PR review Reusing HelperSpeed
 and HelperHeading messages instead they will be used for cog and sog added
 comments to describe the data in HelperAISSHIP

---
 CMakeLists.txt        | 2 --
 msg/HelperAISShip.msg | 8 ++++++--
 msg/HelperCOG.msg     | 2 --
 msg/HelperROT.msg     | 3 +--
 msg/HelperSOG.msg     | 2 --
 5 files changed, 7 insertions(+), 10 deletions(-)
 delete mode 100644 msg/HelperCOG.msg
 delete mode 100644 msg/HelperSOG.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ee04483..0570cac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,8 +32,6 @@ set(common_msg
   "msg/HelperHeading.msg"
   "msg/HelperLatLon.msg"
   "msg/HelperSpeed.msg"
-  "msg/HelperCOG.msg"
-  "msg/HelperSOG.msg"
   "msg/HelperDimensions.msg"
   "msg/HelperROT.msg"
 )
diff --git a/msg/HelperAISShip.msg b/msg/HelperAISShip.msg
index 9761d8a..20f0645 100644
--- a/msg/HelperAISShip.msg
+++ b/msg/HelperAISShip.msg
@@ -1,7 +1,11 @@
 # AIS identifier
 int32 id
 HelperLatLon lat_lon
-HelperCOG   cog
-HelperSOG   sog
+# course over ground in degrees from CW from true north
+HelperHeading   cog
+# speed over ground in kmph
+HelperSpeed   sog
+# rate of turn in degrees per hour
 HelperROT   rot
+# dimensions of the boat in meters
 HelperDimensions dimensions
diff --git a/msg/HelperCOG.msg b/msg/HelperCOG.msg
deleted file mode 100644
index 165d971..0000000
--- a/msg/HelperCOG.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-# Unit: decimal degrees
-float32 cog
diff --git a/msg/HelperROT.msg b/msg/HelperROT.msg
index fb22852..59f8ef4 100644
--- a/msg/HelperROT.msg
+++ b/msg/HelperROT.msg
@@ -1,3 +1,2 @@
-# Unit: -126 to 126 ROT AIS scale corresponds to -708 to 708 degrees per min
-# ROTAIS = 4.733 * sqrt (rot [degrees/min])
+# Unit: degrees/hour
 float32 rot
diff --git a/msg/HelperSOG.msg b/msg/HelperSOG.msg
deleted file mode 100644
index 04c73ab..0000000
--- a/msg/HelperSOG.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-# Unit: km/h
-float32 sog

From 158f15918d0e5af653fba7a321af633a6fd46d94 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Tue, 17 Oct 2023 15:04:30 -0700
Subject: [PATCH 07/10] git

---
 msg/HelperAISShip.msg | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/msg/HelperAISShip.msg b/msg/HelperAISShip.msg
index 20f0645..d3f3e1b 100644
--- a/msg/HelperAISShip.msg
+++ b/msg/HelperAISShip.msg
@@ -1,11 +1,11 @@
-# AIS identifier
+# AIS identifier (MMSI)
 int32 id
 HelperLatLon lat_lon
-# course over ground in degrees from CW from true north
+# course over ground in degrees from CW from true north (float)
 HelperHeading   cog
-# speed over ground in kmph
+# speed over ground in kmph (float)
 HelperSpeed   sog
-# rate of turn in degrees per hour
+# rate of turn in degrees per hour, positive for CW, negative for CCW (float)
 HelperROT   rot
-# dimensions of the boat in meters
+# dimensions of the boat in meters (float)
 HelperDimensions dimensions

From 835eead5071cfe18a11eae4e2e7acea0b48c109e Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Thu, 19 Oct 2023 12:20:30 -0700
Subject: [PATCH 08/10] added more description in HelperAISShip

---
 README.md                | 2 ++
 msg/HelperAISShip.msg    | 6 ++++--
 msg/HelperDimension.msg  | 2 ++
 msg/HelperDimensions.msg | 4 ----
 msg/HelperROT.msg        | 1 +
 5 files changed, 9 insertions(+), 6 deletions(-)
 create mode 100644 msg/HelperDimension.msg
 delete mode 100644 msg/HelperDimensions.msg

diff --git a/README.md b/README.md
index ba9158a..bd8d711 100644
--- a/README.md
+++ b/README.md
@@ -38,6 +38,8 @@ ROS messages and services used across many ROS packages in the project.
 | HelperHeading       | DesiredHeading, GPS, HelperAISShip |
 | HelperLatLon        | GlobalPath, GPS, HelperAISShip     |
 | HelperSpeed         | GPS, HelperAISShip, WindSensor     |
+| HelperROT           | HelperAISShip                      |
+| HelperDimension     | HelperAISShip                      |
 
 ## Boat Simulator Interfaces
 
diff --git a/msg/HelperAISShip.msg b/msg/HelperAISShip.msg
index d3f3e1b..7a8cb5c 100644
--- a/msg/HelperAISShip.msg
+++ b/msg/HelperAISShip.msg
@@ -7,5 +7,7 @@ HelperHeading   cog
 HelperSpeed   sog
 # rate of turn in degrees per hour, positive for CW, negative for CCW (float)
 HelperROT   rot
-# dimensions of the boat in meters (float)
-HelperDimensions dimensions
+# width of the ship in meters (float)
+HelperDimension width
+# length of the ship in meters (float)
+HelperDimension length
diff --git a/msg/HelperDimension.msg b/msg/HelperDimension.msg
new file mode 100644
index 0000000..4beaa0d
--- /dev/null
+++ b/msg/HelperDimension.msg
@@ -0,0 +1,2 @@
+# Unit: meters
+float32 dimension
diff --git a/msg/HelperDimensions.msg b/msg/HelperDimensions.msg
deleted file mode 100644
index f5a963c..0000000
--- a/msg/HelperDimensions.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-# Unit: meters
-float32 width
-# Unit: meters
-float32 length
diff --git a/msg/HelperROT.msg b/msg/HelperROT.msg
index 59f8ef4..7b6f6ca 100644
--- a/msg/HelperROT.msg
+++ b/msg/HelperROT.msg
@@ -1,2 +1,3 @@
+# Rate of turn of the ship, negative for CCW turning and positive for CW turning.
 # Unit: degrees/hour
 float32 rot

From 283faa9906c9b9d5a2eaa031afa2dffc02e8a527 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Thu, 19 Oct 2023 12:25:41 -0700
Subject: [PATCH 09/10] modified cmakelist to reflect refactor of
 HelperDimensions to HelperDimension

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0570cac..7dbc686 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,7 +32,7 @@ set(common_msg
   "msg/HelperHeading.msg"
   "msg/HelperLatLon.msg"
   "msg/HelperSpeed.msg"
-  "msg/HelperDimensions.msg"
+  "msg/HelperDimension.msg"
   "msg/HelperROT.msg"
 )
 

From 9ea1bd277d55b8d0ab5db36ddb8156e914585881 Mon Sep 17 00:00:00 2001
From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com>
Date: Thu, 19 Oct 2023 22:19:25 -0700
Subject: [PATCH 10/10] Removed extra comments from HelperAISShip alphabetized
 cmakeLists and readme

---
 CMakeLists.txt        | 4 ++--
 README.md             | 4 ++--
 msg/HelperAISShip.msg | 7 ++-----
 3 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7dbc686..fcc2025 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,12 +28,12 @@ set(common_msg
   # internal
   "msg/HelperAISShip.msg"
   "msg/HelperBattery.msg"
+  "msg/HelperDimension.msg"
   "msg/HelperGenericSensor.msg"
   "msg/HelperHeading.msg"
   "msg/HelperLatLon.msg"
-  "msg/HelperSpeed.msg"
-  "msg/HelperDimension.msg"
   "msg/HelperROT.msg"
+  "msg/HelperSpeed.msg"
 )
 
 # Boat simulator custom messages
diff --git a/README.md b/README.md
index bd8d711..ec95513 100644
--- a/README.md
+++ b/README.md
@@ -34,12 +34,12 @@ ROS messages and services used across many ROS packages in the project.
 | ------------------- | ---------------------------------- |
 | HelperAISShip       | AISShips                           |
 | HelperBattery       | Batteries                          |
+| HelperDimension     | HelperAISShip                      |
 | HelperGenericSensor | GenericSensors                     |
 | HelperHeading       | DesiredHeading, GPS, HelperAISShip |
 | HelperLatLon        | GlobalPath, GPS, HelperAISShip     |
-| HelperSpeed         | GPS, HelperAISShip, WindSensor     |
 | HelperROT           | HelperAISShip                      |
-| HelperDimension     | HelperAISShip                      |
+| HelperSpeed         | GPS, HelperAISShip, WindSensor     |
 
 ## Boat Simulator Interfaces
 
diff --git a/msg/HelperAISShip.msg b/msg/HelperAISShip.msg
index 7a8cb5c..9091d4f 100644
--- a/msg/HelperAISShip.msg
+++ b/msg/HelperAISShip.msg
@@ -1,13 +1,10 @@
 # AIS identifier (MMSI)
 int32 id
 HelperLatLon lat_lon
-# course over ground in degrees from CW from true north (float)
+# The ship's course over ground
 HelperHeading   cog
-# speed over ground in kmph (float)
+# The ship's speed over ground
 HelperSpeed   sog
-# rate of turn in degrees per hour, positive for CW, negative for CCW (float)
 HelperROT   rot
-# width of the ship in meters (float)
 HelperDimension width
-# length of the ship in meters (float)
 HelperDimension length