syntax = "proto2";

package common;

message Time {
  optional uint32 sec = 1;
  optional uint32 nsec = 2;
}

message Header {
  // Sequence number for each message. Each module maintains its own counter for
  // sequence_num, always starting from 1 on boot.
  optional uint32 seq = 1;

  // Message publishing time in seconds.
  optional Time stamp = 2;

  // frame id
  optional string frame_id = 3;

  // Module name.
  optional string module_name = 4;
}