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# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
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uint64 timestamp # time since system start (microseconds)
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# Position in NED earth-fixed frame (meters). NaN if invalid/unknown
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float32 x # North position
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float32 y # East position
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float32 z # Down position
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# Orientation quaternion. First value NaN if invalid/unknown
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float32[4] q # Quaternion rotation from NED earth-fixed frame to XYZ body frame
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# Row-major representation of 6x6 pose cross-covariance matrix URT.
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# NED earth-fixed frame.
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# Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis
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# If invalid/unknown, first cell is NaN
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float32[21] pose_covariance
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# Velocity in NED earth-fixed frame (meters/sec). NaN if invalid/unknown
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float32 vx # North velocity
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float32 vy # East velocity
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float32 vz # Down velocity
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# Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown
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float32 rollspeed # Angular velocity about X body axis
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float32 pitchspeed # Angular velocity about Y body axis
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float32 yawspeed # Angular velocity about Z body axis
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# Row-major representation of 6x6 velocity cross-covariance matrix URT.
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# Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame.
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# Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis
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# If invalid/unknown, first cell is NaN
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float32[21] velocity_covariance
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# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
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