VehicleOdometry (повідомлення UORB)
Vehicle odometry data.
Fits ROS REP 147 for aerial vehicles
TOPICS: vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry estimator_odometry
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 | us | Time since system start | |
| timestamp_sample | uint64 | us | Timestamp sample | |
| pose_frame | uint8 | POSE_FRAME | Position and orientation frame of reference | |
| положення | float32[3] | m [local frame] | Position. Origin is position of GC at startup. (Invalid: NaN If invalid/unknown) | |
| q | float32[4] | 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) (Invalid: NaN First value if invalid/unknown) | ||
| velocity_frame | uint8 | VELOCITY_FRAME | Reference frame of the velocity data | |
| швидкість | float32[3] | m/s [@velocity_frame] | Velocity. (Invalid: NaN If invalid/unknown) | |
| angular_velocity | float32[3] | rad/s [@VELOCITY_FRAME_BODY_FRD] | Angular velocity in body-fixed frame (Invalid: NaN If invalid/unknown) | |
| position_variance | float32[3] | m^2 | Variance of position error | |
| orientation_variance | float32[3] | rad^2 | Variance of orientation/attitude error (expressed in body frame) | |
| velocity_variance | float32[3] | m^2/s^2 | Variance of velocity error | |
| reset_counter | uint8 | Reset counter. Counts reset events on attitude, velocity and position. | ||
| quality | int8 | Quality. Unused. (Invalid: 0) |
Enums
POSE_FRAME
VELOCITY_FRAME
Constants
| Назва | Тип | Значення | Опис |
|---|---|---|---|
| MESSAGE_VERSION | uint32 | 0 |
Source Message
Details
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c
# Vehicle odometry data
#
# Fits ROS REP 147 for aerial vehicles
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp sample
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 # [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 # [@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 # [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] 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
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