line2d messages (#38)

Author: jorgenfj

CMakeLists.txt

@@ -29,6 +29,8 @@ set(msg_files
   "msg/Transducer.msg"
   "msg/TransducerArray.msg"
   "msg/PoseEulerStamped.msg"
+  "msg/Line2D.msg"
+  "msg/Line2DArray.msg"
 )
 
 set(srv_files

msg/Line2D.msg

@@ -0,0 +1,7 @@
+# Line2D.msg
+
+float64 rho # distance from origin [m]
+float64 theta # angle [rad], normal direction
+
+geometry_msgs/Point p0
+geometry_msgs/Point p1

msg/Line2DArray.msg

@@ -0,0 +1,5 @@
+# Line2DArray.msg
+
+std_msgs/Header header
+
+Line2D[] lines