auv_msgs/NavigationStatus Message

File: auv_msgs/NavigationStatus.msg

Raw Message Definition

# Sent by the navigator at 5-10 Hz.

Header  header

geographic_msgs/GeoPoint global_position
geographic_msgs/GeoPoint origin

# NED position and altitude in metres. 
NED position
float32 altitude

# Body velocities in metres/sec., "water-velocity"
geometry_msgs/Point body_velocity
# Velocities measured wrt the seafloor/ground in metres/sec.
geometry_msgs/Point seafloor_velocity

# Orientation and orientation rate are in radians and radians/sec using RPY
geometry_msgs/Vector3 orientation
geometry_msgs/Vector3 orientation_rate

# Variances for position and orientation
NED position_variance
geometry_msgs/Vector3 orientation_variance

# Status and associated constants (flags)
# These flags are here for legacy reasons.
# We need a wider adoption of this package to rethink flags, get in contact if you have suggestions.
# RESERVED RANGE: 0-100.
uint8 status
uint8 STATUS_FAULT = 0
uint8 STATUS_LOCAL_FRAME_OK = 1
uint8 STATUS_GLOBAL_FRAME_OK = 2
uint8 STATUS_POSITION_OK = 3
uint8 STATUS_ESTIMATION_ERROR_OK  = 8
uint8 STATUS_WATER_VELOCITY_OK = 16
uint8 STATUS_GROUND_VELOCITY_OK = 32
uint8 STATUS_VELOCITY_OK = 48
uint8 STATUS_ALL_OK = 59
# Use custom codes >100

Compact Message Definition

uint8 STATUS_FAULT=0
uint8 STATUS_LOCAL_FRAME_OK=1
uint8 STATUS_GLOBAL_FRAME_OK=2
uint8 STATUS_POSITION_OK=3
uint8 STATUS_ESTIMATION_ERROR_OK=8
uint8 STATUS_WATER_VELOCITY_OK=16
uint8 STATUS_GROUND_VELOCITY_OK=32
uint8 STATUS_VELOCITY_OK=48
uint8 STATUS_ALL_OK=59
std_msgs/Header header
geographic_msgs/GeoPoint global_position
geographic_msgs/GeoPoint origin
auv_msgs/NED position
float32 altitude
geometry_msgs/Point body_velocity
geometry_msgs/Point seafloor_velocity
geometry_msgs/Vector3 orientation
geometry_msgs/Vector3 orientation_rate
auv_msgs/NED position_variance
geometry_msgs/Vector3 orientation_variance
uint8 status