README

novatel_oem6_msgs

Created Messages

All messages defined in gnss_messages_novatel.h with GNSS_BINARY_MSG_DEFINITION_START have been converted to ROS2 messages:

Message	Purpose	Key Fields
BESTPOS	Best available position	lat, lon, hgt, solution_stat, position_type
INSPVAS	INS solution	position, velocity (NEU), attitude (RPY), ins_status
INSCOVS	INS covariances	pos_cov[9], att_cov[9], vel_cov[9]
RAWIMUS	Raw IMU data	accel_x/y/z, gyro_x/y/z (raw counts)
MARKPOS	Position at mark event	Same fields as BESTPOS
MARKTIME	Time at mark 1 event	week, week_seconds, clock_offset
MARK2TIME	Time at mark 2 event	week, week_seconds, clock_offset
IONUTC	Ionosphere/UTC params	alpha/beta coefficients, leap seconds
RAWEPHEM	Raw GPS ephemeris	subframe1[30], subframe2[30], subframe3[30]
RXSTATUS	Receiver status	error codes, status words

Message Features

Constants for Status Fields

All messages include constants for their status/type enumerations:

# INSPVAS INS Status
INS_INACTIVE = 0
INS_ALIGNING = 1
INS_SOLUTION_GOOD = 3
# ... etc

# BESTPOS Solution Status
SOLUTION_COMPUTED = 0
INSUFFICIENT_OBS = 1
# ... etc

# BESTPOS Position Type  
NONE = 0
NARROW_INT = 50  # RTK Fixed
L1_FLOAT = 32    # RTK Float
# ... etc

Standard ROS2 Header

All messages include std_msgs/Header header with:

• frame_id: Sensor frame

• stamp: GPS timestamp converted to ROS time