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# A more complete GPS fix to supplement sensor_msgs/NavSatFix.
Header header
GPSStatus status
# Latitude (degrees). Positive is north of equator; negative is south.
float64 latitude
# Longitude (degrees). Positive is east of prime meridian, negative west.
float64 longitude
# Altitude (meters). Positive is above reference (e.g., sea level).
float64 altitude
# Direction (degrees from north)
float64 track
# Ground speed (meters/second)
float64 speed
# Vertical speed (meters/second)
float64 climb
# Device orientation (units in degrees)
float64 pitch
float64 roll
float64 dip
# GPS time
float64 time
## Dilution of precision; Xdop<=0 means the value is unknown
# Total (positional-temporal) dilution of precision
float64 gdop
# Positional (3D) dilution of precision
float64 pdop
# Horizontal dilution of precision
float64 hdop
# Vertical dilution of precision
float64 vdop
# Temporal dilution of precision
float64 tdop
## Uncertainty of measurement, 95% confidence
# Spherical position uncertainty (meters) [epe]
float64 err
# Horizontal position uncertainty (meters) [eph]
float64 err_horz
# Vertical position uncertainty (meters) [epv]
float64 err_vert
# Track uncertainty (degrees) [epd]
float64 err_track
# Ground speed uncertainty (meters/second) [eps]
float64 err_speed
# Vertical speed uncertainty (meters/second) [epc]
float64 err_climb
# Temporal uncertainty [ept]
float64 err_time
# Orientation uncertainty (degrees)
float64 err_pitch
float64 err_roll
float64 err_dip
# Position covariance [m^2] defined relative to a tangential plane
# through the reported position. The components are East, North, and
# Up (ENU), in row-major order.
float64[9] position_covariance
uint8 COVARIANCE_TYPE_UNKNOWN = 0
uint8 COVARIANCE_TYPE_APPROXIMATED = 1
uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
uint8 COVARIANCE_TYPE_KNOWN = 3
uint8 position_covariance_type
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