Adding More Data From AIS

CMakeLists.txt

@@ -32,6 +32,8 @@ set(common_msg
   "msg/HelperHeading.msg"
   "msg/HelperLatLon.msg"
   "msg/HelperSpeed.msg"
+  "msg/HelperDimension.msg"
+  "msg/HelperROT.msg"
 )
 
 # Boat simulator custom messages

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
 

msg/HelperAISShip.msg

@@ -1,5 +1,13 @@
-# AIS identifier
+# AIS identifier (MMSI)
 int32 id
 HelperLatLon lat_lon
-HelperSpeed speed
-HelperHeading heading
+# course over ground in degrees from CW from true north (float)
+HelperHeading   cog
+# speed over ground in kmph (float)
+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

msg/HelperDimension.msg

@@ -0,0 +1,2 @@
+# Unit: meters
+float32 dimension

msg/HelperROT.msg

@@ -0,0 +1,3 @@
+# Rate of turn of the ship, negative for CCW turning and positive for CW turning.
+# Unit: degrees/hour
+float32 rot