ROS2 消息格式 NavSatFix

文件：sensor_msgs/msg/NavSatFix.msg

消息定义

原始消息定义

# Navigation Satellite fix for any Global Navigation Satellite System

#

# Specified using the WGS 84 reference ellipsoid


# header.stamp specifies the ROS time for this measurement (the

# corresponding satellite time may be reported using the

# sensor_msgs/TimeReference message).

#

# header.frame_id is the frame of reference reported by the satellite

# receiver, usually the location of the antenna. This is a

# Euclidean frame relative to the vehicle, not a reference

# ellipsoid.

std_msgs/Header header

# Satellite fix status information.

NavSatStatus status

# Latitude [degrees]. Positive is north of equator; negative is south.

float64 latitude

# Longitude [degrees]. Positive is east of prime meridian; negative is west.

float64 longitude

# Altitude [m]. Positive is above the WGS 84 ellipsoid

# (quiet NaN if no altitude is available).

float64 altitude

# 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.

#

# Beware: this coordinate system exhibits singularities at the poles.

float64[9] position_covariance

# If the covariance of the fix is known, fill it in completely. If the

# GPS receiver provides the variance of each measurement, put them

# along the diagonal. If only Dilution of Precision is available,

# estimate an approximate covariance from that.


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

紧凑消息定义

uint8 COVARIANCE_TYPE_UNKNOWN=0
uint8 COVARIANCE_TYPE_APPROXIMATED=1
uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN=2
uint8 COVARIANCE_TYPE_KNOWN=3
std_msgs/msg/Header header
sensor_msgs/msg/NavSatStatus status
double latitude
double longitude
double altitude
double[9] position_covariance
uint8 position_covariance_type