package Carmen;import IPC.*;/**  Carmen OdometryHandler's message   */public class OdometryMessage extends Message {  /** robot pose at the center of the robot */  public double x, y, theta;  /** commanded translational (m/s) and rotational (r/s) velocity */  public double tv, rv;  /** robot acceleration (m/s^2) */  public double acceleration;  private static final String CARMEN_ROBOT_ODOMETRY_NAME = "carmen_base_odometry";  private static final String CARMEN_ROBOT_ODOMETRY_FMT =   	"{double, double, double, double, double, double, double, string}";  /** Application module calls this to subscribe to OdometryMessage.   *  Application module must extend OdometryHandler.   */  public static void subscribe(OdometryHandler handler) {    subscribe(CARMEN_ROBOT_ODOMETRY_NAME, CARMEN_ROBOT_ODOMETRY_FMT, handler, 	      OdometryMessage.class, "handle");  }  }