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VehicleOdometry.msg - clarify frames (#23444)

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Hamish Willee 2025-10-01 10:03:09 +10:00 committed by GitHub
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msg/versioned/VehicleOdometry.msg
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@ -1,34 +1,35 @@
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
# Vehicle odometry data
#
# Fits ROS REP 147 for aerial vehicles
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp sample
uint8 POSE_FRAME_UNKNOWN = 0
uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 pose_frame # Position and orientation frame of reference
uint8 pose_frame # [@enum POSE_FRAME] Position and orientation frame of reference
uint8 POSE_FRAME_UNKNOWN = 0 # Unknown frame
uint8 POSE_FRAME_NED = 1 # North-East-Down (NED) navigation frame. Aligned with True North.
uint8 POSE_FRAME_FRD = 2 # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.
float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
float32[3] position # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
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)
uint8 VELOCITY_FRAME_UNKNOWN = 0
uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
uint8 velocity_frame # Reference frame of the velocity data
uint8 velocity_frame # [@enum VELOCITY_FRAME] Reference frame of the velocity data
uint8 VELOCITY_FRAME_UNKNOWN = 0 # Unknown frame
uint8 VELOCITY_FRAME_NED = 1 # NED navigation frame at current position.
uint8 VELOCITY_FRAME_FRD = 2 # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
float32[3] velocity # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
float32[3] angular_velocity # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame
float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
float32[3] position_variance # [m^2] Variance of position error
float32[3] orientation_variance # [rad^2] Variance of orientation/attitude error (expressed in body frame)
float32[3] velocity_variance # [m^2/s^2] Variance of velocity error
float32[3] position_variance
float32[3] orientation_variance
float32[3] velocity_variance
uint8 reset_counter
int8 quality
uint8 reset_counter # [-] Reset counter. Counts reset events on attitude, velocity and position.
int8 quality # [-] [@invalid 0] Quality. Unused.
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS estimator_odometry