gps_common/GPSFix Message

File: gps_common/GPSFix.msg

Raw Message Definition

# 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


Compact Message Definition

uint8 COVARIANCE_TYPE_UNKNOWN=0
uint8 COVARIANCE_TYPE_APPROXIMATED=1
uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN=2
uint8 COVARIANCE_TYPE_KNOWN=3
std_msgs/Header header
gps_common/GPSStatus status
float64 latitude
float64 longitude
float64 altitude
float64 track
float64 speed
float64 climb
float64 pitch
float64 roll
float64 dip
float64 time
float64 gdop
float64 pdop
float64 hdop
float64 vdop
float64 tdop
float64 err
float64 err_horz
float64 err_vert
float64 err_track
float64 err_speed
float64 err_climb
float64 err_time
float64 err_pitch
float64 err_roll
float64 err_dip
float64[9] position_covariance
uint8 position_covariance_type