syntax = "proto2";
package message;
import "message_base.proto";

message PointXYZ
{
    optional float x=1 [default=0];
    optional float y=2 [default=0];
    optional float z=3 [default=0];
    optional float intensity=4 [default=0];
}

message PointCloud_msg
{
    required Base_info                  base_info=1;
    required string                     frame_id=2;
    required string                     topic=3;
    repeated PointXYZ                   points=4;
}

message Pose2d_msg
{
    required Base_info                  base_info=1;
    required string                     frame_id=2;
    required string                     topic=3;
    required float                      x=4 [default=0];
    required float                      y=5 [default=0];
    required float                      theta=6 [default=0];
}


message Goal_msg
{
    required Base_info                  base_info=1;
    required float                      x=2 [default=0];
    required float                      y=3 [default=0];
    required float                      theta=4 [default=0];
}