-
Notifications
You must be signed in to change notification settings - Fork 2
/
DVL.msg
33 lines (25 loc) · 880 Bytes
/
DVL.msg
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
# Based on UUV Simulator:
# https://github.com/uuvsimulator/uuv_simulator
# This is a message to hold data from a DVL sensor (Doppler Velocity Log).
#
# Distances are in [m], velocities in [m/s]
#
# If the covariance is known, it should be filled.
# If it is unknown, it should be set to all zeros.
# If a measurement was invalid, its covariance should be set to -1 so it can be
# disregarded.
Header header
# Measured velocity [m/s] in sensor frame
geometry_msgs/Vector3 velocity
# Row major, xyz axes
float64[9] velocity_covariance
# Bottom range
float64 range
# Instrument reference data
uint8 VELOCITY_REFERENCE_UNKNOWN = 0
uint8 VELOCITY_REFERENCE_WATER = 1
uint8 VELOCITY_REFERENCE_BOTTOM = 2
uint8 velocity_reference
# DVLBeams are optional. If they are set they contain individual ranges and 1D
# doppler velocity estimates orthogonal to the ray.
DVLBeam[] beams