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cea185268e
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
30 lines
1.3 KiB
Plaintext
30 lines
1.3 KiB
Plaintext
# Fused global position in WGS84.
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# This struct contains global position estimation. It is not the raw GPS
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# measurement (@see vehicle_gps_position). This topic is usually published by the position
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# estimator, which will take more sources of information into account than just GPS,
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# e.g. control inputs of the vehicle in a Kalman-filter implementation.
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#
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float64 lat # Latitude, (degrees)
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float64 lon # Longitude, (degrees)
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float32 alt # Altitude AMSL, (meters)
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float32 alt_ellipsoid # Altitude above ellipsoid, (meters)
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float32 delta_alt # Reset delta for altitude
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uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
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uint8 alt_reset_counter # Counter for reset events on altitude
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float32 eph # Standard deviation of horizontal position error, (metres)
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float32 epv # Standard deviation of vertical position error, (metres)
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float32 terrain_alt # Terrain altitude WGS84, (metres)
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bool terrain_alt_valid # Terrain altitude estimate is valid
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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# TOPICS vehicle_global_position vehicle_global_position_groundtruth
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# TOPICS estimator_global_position
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