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Add position ground truth. (#5819)

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Have confirmed this works with gazebo sitl.
This commit is contained in:
James Goppert
2016-11-09 19:38:38 -05:00
committed by GitHub
parent d1d47c4c27
commit 3511f8abfb
5 changed files with 95 additions and 1 deletions
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msg/vehicle_global_position.msg
+2
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@@ -18,3 +18,5 @@ float32 terrain_alt # Terrain altitude WGS84, (metres)
bool terrain_alt_valid # Terrain altitude estimate is valid
bool dead_reckoning # True if this position is estimated through dead-reckoning
float32 pressure_alt # Pressure altitude AMSL, (metres)
# TOPICS vehicle_global_position vehicle_global_position_groundtruth
msg/vehicle_local_position.msg
+3 -1
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@@ -32,4 +32,6 @@ float32 dist_bottom_rate # Rate of change of distance from bottom surface to gr
uint64 surface_bottom_timestamp # Time when new bottom surface found since system start, (microseconds)
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
# TOPICS vehicle_local_position vehicle_local_position_groundtruth