From 28ba2dce5ddea30910ccd21a8dd1194cdab0d3a8 Mon Sep 17 00:00:00 2001 From: Paul D'Angio Date: Tue, 18 Aug 2020 17:40:25 -0400 Subject: [PATCH] multi: removed frame_ids and improved documentation --- msg/axis_state.msg | 8 +++----- msg/gnss_position.msg | 4 +--- msg/gnss_track.msg | 5 ++--- msg/time_reference.msg | 1 - 4 files changed, 6 insertions(+), 12 deletions(-) diff --git a/msg/axis_state.msg b/msg/axis_state.msg index 3d824f3..7a29ef0 100644 --- a/msg/axis_state.msg +++ b/msg/axis_state.msg @@ -1,7 +1,5 @@ # Reports the instantaneous state of an axis. -float64 position # The current position of the axis in radians. -float64 velocity # The current velocity of the axis in radians/second. -float64 acceleration # The current acceleration of the axis in radians/second^2. - -string frame_id # The id of the measurement's frame. \ No newline at end of file +float64 position # The current position of the axis [rad] +float64 velocity # The current velocity of the axis [rad/s] +float64 acceleration # The current acceleration of the axis [rad/s^2] \ No newline at end of file diff --git a/msg/gnss_position.msg b/msg/gnss_position.msg index d95c844..fb7925f 100644 --- a/msg/gnss_position.msg +++ b/msg/gnss_position.msg @@ -1,12 +1,10 @@ # 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). +float64 altitude # Altitude above MSL [m] 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 index 38d6430..a12679c 100644 --- a/msg/gnss_track.msg +++ b/msg/gnss_track.msg @@ -4,6 +4,5 @@ uint8 reference # The direction that the heading is in ref 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 +float64 heading # The global heading of the track w.r.t. the reference [rad]. +float64 velocity # The scalar velocity of the track, [m/s] \ No newline at end of file diff --git a/msg/time_reference.msg b/msg/time_reference.msg index 491a4b5..7072dae 100644 --- a/msg/time_reference.msg +++ b/msg/time_reference.msg @@ -1,4 +1,3 @@ # 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