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add a local frame of reference field to vehicle_odometry

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TSC21
2018-09-14 12:09:29 +01:00
committed by Lorenz Meier
parent cc73f214d1
commit 095cdeb4b0
3 changed files with 27 additions and 3 deletions
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msg/vehicle_odometry.msg
+10 -2
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@@ -15,7 +15,15 @@ uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE=15
uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE=18
uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20
# Position in NED earth-fixed frame (meters). NaN if invalid/unknown
# Position and linear velocity frame of reference constants
uint8 LOCAL_FRAME_NED=0 # NED earth-fixed frame
uint8 LOCAL_FRAME_ENU=1 # ENU earth-fixed frame
uint8 LOCAL_FRAME_OTHER=2 # Not aligned with the std frames of reference
# Position and linear velocity local frame of reference
uint8 local_frame
# Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32 x # North position
float32 y # East position
float32 z # Down position
@@ -30,7 +38,7 @@ float32[4] q # Quaternion rotation from NED earth-fixed frame to XYZ body fram
# If orientation covariance invalid/unknown, 16th cell is NaN
float32[21] pose_covariance
# Velocity in NED earth-fixed frame (meters/sec). NaN if invalid/unknown
# Velocity in meters/sec. Frame of reference defined by local_frame. NaN if invalid/unknown
float32 vx # North velocity
float32 vy # East velocity
float32 vz # Down velocity