EsfMEAS
This is a ROS message definition.
Source
# ESF-MEAS (0x10 0x02)
# External Sensor Fusion Measurements
#
# Possible data types for the data field are described in the ESF Measurement
# Data section
#
uint8 CLASS_ID = 16
uint8 MESSAGE_ID = 2
uint32 time_tag # Time tag of measurement generated by external
# sensor
uint16 flags # Flags. Set all unused bits to zero:
uint16 FLAGS_TIME_MARK_SENT_MASK = 3 # Time mark signal was supplied just
# prior to sending this message: 0 =
uint16 TIME_MARK_NONE = 0
uint16 TIME_MARK_EXT0 = 1
uint16 TIME_MARK_EXT = 2
uint16 FLAGS_TIME_MARK_EDGE = 4 # Trigger on rising (0) or falling
# (1) edge of time mark signal
uint16 FLAGS_CALIB_T_TAG_VALID = 8 # Calibration time tag available.
# Always set to zero.
uint16 id # Identification number of data provider
# Start of repeated block (N times)
uint32[] data # data, see mask below
uint32 DATA_FIELD_MASK = 16777215 # data
uint32 DATA_TYPE_MASK = 1056964608 # type of data (1..63)
uint32 DATA_TYPE_SHIFT = 24
uint32 DATA_TYPE_NONE = 0 # data field contains no data
uint32 DATA_TYPE_Z_AXIS_GYRO = 5 # z-axis gyroscope angular rate
# [deg/s *2^-12 signed]
uint32 DATA_TYPE_WHEEL_TICKS_FRONT_LEFT = 6 # front-left wheel ticks
# Bits 0-22: unsigned tick value.
# Bit 23: direction indicator
# (0=forward, 1=backward)
uint32 DATA_TYPE_WHEEL_TICKS_FRONT_RIGHT = 7 # front-right wheel ticks
# Bits 0-22: unsigned tick value.
# Bit 23: direction indicator
# (0=forward, 1=backward)
uint32 DATA_TYPE_WHEEL_TICKS_REAR_LEFT = 8 # rear-left wheel ticks
# Bits 0-22: unsigned tick value.
# Bit 23: direction indicator
# (0=forward, 1=backward)
uint32 DATA_TYPE_WHEEL_TICKS_REAR_RIGHT = 9 # rear-right wheel ticks
# Bits 0-22: unsigned tick value.
# Bit 23: direction indicator
# (0=forward, 1=backward)
uint32 DATA_TYPE_SINGLE_TICK = 10 # single tick (speed tick)
# Bits 0-22: unsigned tick value.
# Bit 23: direction indicator
# (0=forward, 1=backward)
uint32 DATA_TYPE_SPEED = 11 # speed m/s * 1e-3 signed
uint32 DATA_TYPE_GYRO_TEMPERATURE = 12 # gyroscope temperature
# [deg Celsius * 1e-2 signed]
uint32 DATA_TYPE_GYRO_ANG_RATE_Y = 13 # y-axis gyroscope angular rate
# [deg/s *2^-12 signed]
uint32 DATA_TYPE_GYRO_ANG_RATE_X = 14 # x-axis gyroscope angular rate
# [deg/s *2^-12 signed]
uint32 DATA_TYPE_ACCELEROMETER_X = 16 # x-axis accelerometer specific
# [force m/s^2 *2^-10 signed]
uint32 DATA_TYPE_ACCELEROMETER_Y = 17 # y-axis accelerometer specific
# [force m/s^2 *2^-10 signed]
uint32 DATA_TYPE_ACCELEROMETER_Z = 18 # z-axis accelerometer specific
# [force m/s^2 *2^-10 signed]
# End of repeated block
# Start of optional block (size is either 0 or 1)
uint32[] calib_t_tag # Receiver local time calibrated.
# This field must not be supplied when
# calibTtagValid is set to 0 [ms]
# End of optional block