# Terrain.msg — Surface classification and adaptation state (Issue #142)
# Published by: /saltybot/terrain_adaptation/terrain_adaptation_node
# Topic: /saltybot/terrain

builtin_interfaces/Time stamp

# Surface type classification
# Values: "smooth" | "tile" | "carpet" | "grass" | "gravel" | "unknown"
string surface_type

# Normalised roughness score 0.0 (smooth) – 1.0 (very rough)
float32 roughness

# Terrain incline in radians.  Positive = uphill (front higher than rear).
float32 incline_rad

# Grip coefficient 0.0 (no grip) – 1.0 (full grip)
float32 grip

# Wheel/track slip ratio 0.0 (no slip) – 1.0 (full slip)
float32 slip_ratio

# Recommended speed multiplier 0.0 – 1.0
# Apply to max_speed before commanding motion.
float32 speed_scale
