# FusedTarget.msg — output of the multi-modal tracking fusion node.
#
# Position and velocity are in the base_link frame (robot-centred,
# +X forward, +Y left).  z components are always 0.0 for ground-plane tracking.
#
# Confidence: 0.0 = no data / fully predicted; 1.0 = strong fused measurement.
# active_source: "fused" | "uwb" | "camera" | "predicted"

std_msgs/Header header

geometry_msgs/Point    position    # filtered 2-D position (m), z=0
geometry_msgs/Vector3  velocity    # filtered 2-D velocity (m/s), z=0

float32 range_m       # Euclidean distance from robot to fused position
float32 bearing_rad   # bearing in base_link (+ve = person to the left)
float32 confidence    # composite confidence [0.0, 1.0]

string active_source  # "fused" | "uwb" | "camera" | "predicted"
string tag_id         # UWB tag address (empty when UWB not contributing)