diff --git a/CMakeLists.txt b/CMakeLists.txt index 429ff49..b327d1f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,6 +10,10 @@ add_message_files( axis_state.msg proximity.msg analog_voltage.msg + time_reference.msg + gnss_fix.msg + gnss_position.msg + gnss_track.msg ) # Add service files. diff --git a/msg/gnss_fix.msg b/msg/gnss_fix.msg new file mode 100644 index 0000000..93501c5 --- /dev/null +++ b/msg/gnss_fix.msg @@ -0,0 +1,19 @@ +# Describes the status of a GNSS receiver's fix. + +uint8 type # The current fix type. +uint8 TYPE_NO_FIX = 0 +uint8 TYPE_FIX = 1 +uint8 TYPE_DIFFERENTIAL = 2 +uint8 TYPE_RTK_FIXED = 4 +uint8 TYPE_RTK_FLOAT = 5 + +uint8 mode_selection # The selection type for the operating mode. +uint8 MODE_SELECTION_MANUAL +uint8 MODE_SELECTiON_AUTOMATIC + +uint8 mode # The current operating mode. +uint8 MODE_NONE = 0 +uint8 MODE_2D = 1 +uint8 MODE_3D = 2 + +uint8 n_satellites # The number of satellites used in the fix solution. \ No newline at end of file diff --git a/msg/gnss_position.msg b/msg/gnss_position.msg new file mode 100644 index 0000000..d95c844 --- /dev/null +++ b/msg/gnss_position.msg @@ -0,0 +1,12 @@ +# A global position measurement from a GNSS sensor. + +string frame_id # The ID of the GNSS coordinate frame. + +bool fix_3d # Indicates if the fix is 3-dimensional (includes altitude). + +float64 latitude # Degrees latitude (positive = N, negative = S). +float64 longitude # Degrees longitude (positive = E, negative = W). +float64 altitude # Altitude above MSL (in meters). + +bool has_covariance # Indicates if a covariance matrix is provided in this measurement. +float64[9] covariance # The covariance matrix of the measurement for lat,lon,alt. \ No newline at end of file diff --git a/msg/gnss_track.msg b/msg/gnss_track.msg new file mode 100644 index 0000000..38d6430 --- /dev/null +++ b/msg/gnss_track.msg @@ -0,0 +1,9 @@ +# An instantaneous velocity track as measured by a GNSS receiver. + +uint8 reference # The direction that the heading is in reference to. +uint8 REFERENCE_TRUE_NORTH = 0 +uint8 REFERENCE_MAGNETIC_NORTH = 1 + +float64 heading # The global heading of the track, in degrees from reference north. + # This can be in reference to TRUE or MAGNETIC north. +float64 velocity # The scalar velocity of the track, in m/s. \ No newline at end of file diff --git a/msg/time_reference.msg b/msg/time_reference.msg new file mode 100644 index 0000000..491a4b5 --- /dev/null +++ b/msg/time_reference.msg @@ -0,0 +1,4 @@ +# A time measurement from a timing source. + +string source # The timing source generating the measurement. +time utc_time # The measured UTC time. \ No newline at end of file