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36 lines
2.1 KiB
Plaintext
36 lines
2.1 KiB
Plaintext
# Vehicle odometry data
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#
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# Fits ROS REP 147 for aerial vehicles
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp sample
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uint8 pose_frame # [@enum POSE_FRAME] Position and orientation frame of reference
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uint8 POSE_FRAME_UNKNOWN = 0 # Unknown frame
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uint8 POSE_FRAME_NED = 1 # North-East-Down (NED) navigation frame. Aligned with True North.
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uint8 POSE_FRAME_FRD = 2 # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.
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float32[3] position # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
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float32[4] q # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world)
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uint8 velocity_frame # [@enum VELOCITY_FRAME] Reference frame of the velocity data
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uint8 VELOCITY_FRAME_UNKNOWN = 0 # Unknown frame
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uint8 VELOCITY_FRAME_NED = 1 # NED navigation frame at current position.
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uint8 VELOCITY_FRAME_FRD = 2 # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
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uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
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float32[3] velocity # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
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float32[3] angular_velocity # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame
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float32[3] position_variance # [m^2] Variance of position error
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float32[3] orientation_variance # [rad^2] Variance of orientation/attitude error (expressed in body frame)
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float32[3] velocity_variance # [m^2/s^2] Variance of velocity error
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uint8 reset_counter # [-] Reset counter. Counts reset events on attitude, velocity and position.
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int8 quality # [-] [@invalid 0] Quality. Unused.
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# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
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# TOPICS estimator_odometry
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