gps_common¶

Message types¶

• gps_common/GPSStatus
• gps_common/GPSFix

gps_common/GPSStatus¶

Field:	header (std_msgs/Header) – satellites_used (uint16) – satellite_used_prn[] (int32) – satellites_visible (uint16) – satellite_visible_prn[] (int32) – satellite_visible_z[] (int32) – satellite_visible_azimuth[] (int32) – satellite_visible_snr[] (int32) – status (int16) – motion_source (uint16) – orientation_source (uint16) – position_source (uint16) –
Constant:	STATUS_NO_FIX (int16):-1 – STATUS_FIX (int16):0 – STATUS_SBAS_FIX (int16):1 – STATUS_GBAS_FIX (int16):2 – STATUS_DGPS_FIX (int16):18 – STATUS_WAAS_FIX (int16):33 – SOURCE_NONE (uint16):0 – SOURCE_GPS (uint16):1 – SOURCE_POINTS (uint16):2 – SOURCE_DOPPLER (uint16):4 – SOURCE_ALTIMETER (uint16):8 – SOURCE_MAGNETIC (uint16):16 – SOURCE_GYRO (uint16):32 – SOURCE_ACCEL (uint16):64 –

Header header

# Satellites used in solution
uint16 satellites_used # Number of satellites
int32[] satellite_used_prn # PRN identifiers

# Satellites visible
uint16 satellites_visible
int32[] satellite_visible_prn # PRN identifiers
int32[] satellite_visible_z # Elevation of satellites
int32[] satellite_visible_azimuth # Azimuth of satellites
int32[] satellite_visible_snr # Signal-to-noise ratios (dB)

# Measurement status
int16 STATUS_NO_FIX=-1   # Unable to fix position
int16 STATUS_FIX=0       # Normal fix
int16 STATUS_SBAS_FIX=1  # Fixed using a satellite-based augmentation system
int16 STATUS_GBAS_FIX=2  #          or a ground-based augmentation system
int16 STATUS_DGPS_FIX=18 # Fixed with DGPS
int16 STATUS_WAAS_FIX=33 # Fixed with WAAS
int16 status

uint16 SOURCE_NONE=0 # No information is available
uint16 SOURCE_GPS=1 # Using standard GPS location [only valid for position_source]
uint16 SOURCE_POINTS=2 # Motion/orientation fix is derived from successive points
uint16 SOURCE_DOPPLER=4 # Motion is derived using the Doppler effect
uint16 SOURCE_ALTIMETER=8 # Using an altimeter
uint16 SOURCE_MAGNETIC=16 # Using magnetic sensors
uint16 SOURCE_GYRO=32 # Using gyroscopes
uint16 SOURCE_ACCEL=64 # Using accelerometers

uint16 motion_source # Source for speed, climb and track
uint16 orientation_source # Source for device orientation
uint16 position_source # Source for position

gps_common/GPSFix¶

Field:

header (std_msgs/Header) – status (gps_common/GPSStatus) – 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) – position_covariance[9] (float64) – position_covariance_type (uint8) –

Constant:

COVARIANCE_TYPE_UNKNOWN (uint8):0 – COVARIANCE_TYPE_APPROXIMATED (uint8):1 – COVARIANCE_TYPE_DIAGONAL_KNOWN (uint8):2 – COVARIANCE_TYPE_KNOWN (uint8):3 –

A more complete GPS fix to supplement sensor_msgs/NavSatFix.

# 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