# ObstacleVelocity.msg — tracked obstacle with estimated velocity (Issue #326)
#
# obstacle_id  : stable track ID, monotonically increasing, 1-based
# centroid     : estimated position in the LIDAR sensor frame (z=0)
# velocity     : estimated velocity vector, m/s, in the LIDAR sensor frame
# speed_mps    : |velocity| magnitude (m/s)
# width_m      : cluster bounding-box width (metres)
# depth_m      : cluster bounding-box depth (metres)
# point_count  : number of LIDAR returns in the cluster this frame
# confidence   : Kalman track age confidence, 0–1 (1.0 after n_init frames)
# is_static    : true when speed_mps < static_speed_threshold parameter
#
std_msgs/Header header
uint32  obstacle_id
geometry_msgs/Point   centroid
geometry_msgs/Vector3 velocity
float32 speed_mps
float32 width_m
float32 depth_m
uint32  point_count
float32 confidence
bool    is_static
