# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
uint64 timestamp		# time since system start (microseconds)

# Position in NED earth-fixed frame (meters). NaN if invalid/unknown
float32 x			# North position
float32 y			# East position
float32 z			# Down position

# Orientation quaternion. First value NaN if invalid/unknown
float32[4] q			# Quaternion rotation from NED earth-fixed frame to XYZ body frame

# Row-major representation of 6x6 pose cross-covariance matrix URT.
# NED earth-fixed frame.
# Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis
# If invalid/unknown, first cell is NaN
float32[21] pose_covariance

# Velocity in NED earth-fixed frame (meters/sec). NaN if invalid/unknown
float32 vx 			# North velocity
float32 vy			# East velocity
float32 vz			# Down velocity

# Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown
float32 rollspeed		# Angular velocity about X body axis
float32 pitchspeed		# Angular velocity about Y body axis
float32 yawspeed		# Angular velocity about Z body axis

# Row-major representation of 6x6 velocity cross-covariance matrix URT.
# Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame.
# Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis
# If invalid/unknown, first cell is NaN
float32[21] velocity_covariance

# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry