You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
34 lines
1.4 KiB
34 lines
1.4 KiB
# 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
|
|
|