File: ixblue_ins_msgs/Ins.msg
Raw Message Definition
Header header # Standard ROS message header
int8 ALT_REF_GEOID=0
int8 ALT_REF_ELLIPSOID=1
# Position
float64 latitude # In degrees, positive north, [-90,90]
float64 longitude # In degrees, increasgin toward east, [0,360]
int8 altitude_ref # 0: Geoid / 1: Ellipsoid, see constant above.
float32 altitude # In meters, positive up
# Position Deviation
float64[9] position_covariance # In square meters, ENU in row-major order
# Null matrix if unknown
# Attitude
float32 heading # In degrees, [0,360]
float32 roll # In degrees, positive port up, [-180,180]
float32 pitch # In degrees, positive bow down, [-90,90]
# Attitude Deviation
float64[9] attitude_covariance # In rad2/sec2
# Null matrix if unknown
# Speed Vessel Frame
geometry_msgs/Vector3 speed_vessel_frame # In m/s, x: forward, y: left, z: up
# Speed Vessel Frame Deviation
float64[9] speed_vessel_frame_covariance # In m2/s4, ENU in row-major order
# Null matrix if unknown
# Status
# TODO...
Compact Message Definition
int8 ALT_REF_GEOID=0
int8 ALT_REF_ELLIPSOID=1
std_msgs/Header header
float64 latitude
float64 longitude
int8 altitude_ref
float32 altitude
float64[9] position_covariance
float32 heading
float32 roll
float32 pitch
float64[9] attitude_covariance
geometry_msgs/Vector3 speed_vessel_frame
float64[9] speed_vessel_frame_covariance