std_msgs/Header header

# Terrain type classification
uint8 terrain_type
uint8 TERRAIN_UNKNOWN=0
uint8 TERRAIN_PAVEMENT=1
uint8 TERRAIN_GRASS=2
uint8 TERRAIN_GRAVEL=3
uint8 TERRAIN_SAND=4
uint8 TERRAIN_INDOOR=5

# Surface characteristics
float32 roughness             # 0.0=smooth, 1.0=very rough
float32 confidence            # 0.0-1.0 classification confidence
float32 recommended_speed_ratio  # 0.1-1.0 (fraction of max speed)

# Source of classification
string source                 # "imu_vibration", "camera_texture", "fused"
