novatel_msgs

Summary

novatel_msgs
Version:

1.0.0
Description:

ROS messages which represent raw Novatel SPAN data.
Maintainers:
  • Mike Purvis <mpurvis AT clearpathrobotics DOT com>
Licenses:
  • BSD
Authors:
  • NovAtel Support <support AT novatel DOT com>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

novatel_msgs/INSPVAX
Field:
  • header (novatel_msgs/CommonHeader) –
  • ins_status (uint32) –
  • position_type (uint32) –
  • latitude (float64) –
  • longitude (float64) –
  • altitude (float64) –
  • undulation (float32) –
  • north_velocity (float64) –
  • east_velocity (float64) –
  • up_velocity (float64) –
  • roll (float64) –
  • pitch (float64) –
  • azimuth (float64) –
  • latitude_std (float32) –
  • longitude_std (float32) –
  • altitude_std (float32) –
  • north_velocity_std (float32) –
  • east_velocity_std (float32) –
  • up_velocity_std (float32) –
  • roll_std (float32) –
  • pitch_std (float32) –
  • azimuth_std (float32) –
  • extended_status (uint32) –
  • seconds_since_update (uint16) –
Constant:
  • INS_STATUS_INACTIVE (uint32):0 –
  • INS_STATUS_ALIGNING (uint32):1 –
  • INS_STATUS_HIGH_VARIANCE (uint32):2 –
  • INS_STATUS_SOLUTION_GOOD (uint32):3 –
  • INS_STATUS_SOLUTION_FREE (uint32):6 –
  • INS_STATUS_ALIGNMENT_COMPLETE (uint32):7 –
  • INS_STATUS_DETERMINING_ORIENTATION (uint32):8 –
  • INS_STATUS_WAITING_INITIALPOS (uint32):9 –
  • POSITION_TYPE_NONE (uint32):0 –
  • POSITION_TYPE_SBAS (uint32):52 –
  • POSITION_TYPE_PSEUDORANGE_SINGLE_POINT (uint32):53 –
  • POSITION_TYPE_PSEUDORANGE_DIFFERENTIAL (uint32):54 –
  • POSITION_TYPE_RTK_FLOAT (uint32):55 –
  • POSITION_TYPE_RTK_FIXED (uint32):56 –
  • POSITION_TYPE_OMNISTAR (uint32):57 –
  • POSITION_TYPE_OMNISTAR_HP (uint32):58 –
  • POSITION_TYPE_OMNISTAR_XP (uint32):59 –
  • POSITION_TYPE_PPP_CONVERGING (uint32):73 –
  • POSITION_TYPE_PPP (uint32):74 –
  • EXTENDED_STATUS_POSITION_UPDATE_APPLIED (uint32):1 –
  • EXTENDED_STATUS_PHASE_UPDATE_APPLIED (uint32):2 –
  • EXTENDED_STATUS_ZUPT_APPLIED (uint32):4 –
  • EXTENDED_STATUS_WHEEL_SENSOR_APPLIED (uint32):8 –
  • EXTENDED_STATUS_HEADING_UPDATE_APPLIED (uint32):16 –
  • EXTENDED_STATUS_INS_SOLUTION_CONVERGED (uint32):64 –

message 1465

# message 1465
novatel_msgs/CommonHeader header

# Table 29 in the SPAN on OEM6 manual:
# See: http://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf#page=121
uint32 ins_status
uint32 INS_STATUS_INACTIVE=0
uint32 INS_STATUS_ALIGNING=1
uint32 INS_STATUS_HIGH_VARIANCE=2
uint32 INS_STATUS_SOLUTION_GOOD=3
uint32 INS_STATUS_SOLUTION_FREE=6
uint32 INS_STATUS_ALIGNMENT_COMPLETE=7
uint32 INS_STATUS_DETERMINING_ORIENTATION=8
uint32 INS_STATUS_WAITING_INITIALPOS=9

# Table 30 in the SPAN on OEM6 manual:
# See: http://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf#page=124
uint32 position_type
uint32 POSITION_TYPE_NONE=0
uint32 POSITION_TYPE_SBAS=52
uint32 POSITION_TYPE_PSEUDORANGE_SINGLE_POINT=53
uint32 POSITION_TYPE_PSEUDORANGE_DIFFERENTIAL=54
uint32 POSITION_TYPE_RTK_FLOAT=55
uint32 POSITION_TYPE_RTK_FIXED=56
uint32 POSITION_TYPE_OMNISTAR=57
uint32 POSITION_TYPE_OMNISTAR_HP=58
uint32 POSITION_TYPE_OMNISTAR_XP=59
uint32 POSITION_TYPE_PPP_CONVERGING=73
uint32 POSITION_TYPE_PPP=74

float64 latitude
float64 longitude
float64 altitude

float32 undulation

float64 north_velocity
float64 east_velocity
float64 up_velocity

float64 roll
float64 pitch
float64 azimuth

float32 latitude_std
float32 longitude_std
float32 altitude_std

float32 north_velocity_std
float32 east_velocity_std
float32 up_velocity_std

float32 roll_std
float32 pitch_std
float32 azimuth_std

uint32 extended_status
uint32 EXTENDED_STATUS_POSITION_UPDATE_APPLIED=1
uint32 EXTENDED_STATUS_PHASE_UPDATE_APPLIED=2
uint32 EXTENDED_STATUS_ZUPT_APPLIED=4
uint32 EXTENDED_STATUS_WHEEL_SENSOR_APPLIED=8
uint32 EXTENDED_STATUS_HEADING_UPDATE_APPLIED=16
uint32 EXTENDED_STATUS_INS_SOLUTION_CONVERGED=64

uint16 seconds_since_update
novatel_msgs/Ack
Field:
  • transaction (uint16) –
  • id (uint16) –
  • response_code (uint16) –
  • params_status (uint8) –
  • error_parameter_name[32] (uint8) –
Constant:
  • RESPONSE_NOT_APPLICABLE (uint16):0 –
  • RESPONSE_ACCEPTED (uint16):1 –
  • RESPONSE_ACCEPTED_TOO_LONG (uint16):2 –
  • RESPONSE_ACCEPTED_TOO_SHORT (uint16):3 –
  • RESPONSE_PARAM_ERROR (uint16):4 –
  • RESPONSE_NOT_APPLICABLE_IN_CURRENT_STATE (uint16):5 –
  • RESPONSE_DATA_NOT_AVAILABLE (uint16):6 –
  • RESPONSE_MESSAGE_START_ERROR (uint16):7 –
  • RESPONSE_MESSAGE_END_ERROR (uint16):8 –
  • RESPONSE_BYTE_COUNT_ERROR (uint16):9 –
  • RESPONSE_CHECKSUM_ERROR (uint16):10 –
  • PARAMS_NO_CHANGE (uint8):0 –
  • PARAMS_CHANGE (uint8):1 – 
uint16 transaction
uint16 id

uint16 RESPONSE_NOT_APPLICABLE=0
uint16 RESPONSE_ACCEPTED=1
uint16 RESPONSE_ACCEPTED_TOO_LONG=2
uint16 RESPONSE_ACCEPTED_TOO_SHORT=3
uint16 RESPONSE_PARAM_ERROR=4
uint16 RESPONSE_NOT_APPLICABLE_IN_CURRENT_STATE=5
uint16 RESPONSE_DATA_NOT_AVAILABLE=6
uint16 RESPONSE_MESSAGE_START_ERROR=7
uint16 RESPONSE_MESSAGE_END_ERROR=8
uint16 RESPONSE_BYTE_COUNT_ERROR=9
uint16 RESPONSE_CHECKSUM_ERROR=10
uint16 response_code

uint8 PARAMS_NO_CHANGE=0
uint8 PARAMS_CHANGE=1
uint8 params_status

uint8[32] error_parameter_name
novatel_msgs/CORRIMUDATA
Field:
  • header (novatel_msgs/CommonHeader) –
  • week (int32) –
  • gpssec (float64) –
  • pitch_rate (float64) –
  • roll_rate (float64) –
  • yaw_rate (float64) –
  • x_accel (float64) –
  • y_accel (float64) –
  • z_accel (float64) –

message 812 Contains the RAWIMU data corrected for gravity, the earth’s rotation and estimated sensor errors.

# message 812
# Contains the RAWIMU data corrected for gravity, 
# the earth's rotation and estimated sensor errors.
novatel_msgs/CommonHeader header

int32 week
float64 gpssec

# Gyro values are instantaneous and in radians, must
# multiply by datarate to get rad/s.
float64 pitch_rate
float64 roll_rate
float64 yaw_rate

float64 x_accel
float64 y_accel
float64 z_accel
novatel_msgs/CommonHeader
Field:
  • id (uint16) –
  • msg_type (uint8) –
  • port_addr (uint8) –
  • length (uint16) –
  • sequence (uint16) –
  • idle_time (uint8) –
  • time_status (uint8) –
  • gps_week (uint16) –
  • gps_week_seconds (uint32) –
  • receiver_status (uint32) –
  • reserved (uint16) –
  • software_version (uint16) –
Constant:
  • RECEIVER_STATUS_ERROR (uint32):1 –
  • RECEIVER_STATUS_TEMPERATURE_WARNING (uint32):2 –
  • RECEIVER_STATUS_VOLTAGE_SUPPLY_WARNING (uint32):4 –
  • RECEIVER_STATUS_ANTENNA_UNPOWERED (uint32):8 –
  • RECEIVER_STATUS_LNA_FAILURE (uint32):16 –
  • RECEIVER_STATUS_ANTENNA_OPEN (uint32):32 –
  • RECEIVER_STATUS_ANTENNA_SHORTED (uint32):64 –
  • RECEIVER_STATUS_CPU_OVERLOADED (uint32):128 –
  • RECEIVER_STATUS_COM1_BUFFER_OVERRUN (uint32):256 –
  • RECEIVER_STATUS_COM2_BUFFER_OVERRUN (uint32):512 –
  • RECEIVER_STATUS_COM3_BUFFER_OVERRUN (uint32):1024 –
  • RECEIVER_STATUS_LINK_OVERLOAD (uint32):2048 –
  • RECEIVER_STATUS_AUX_TRANSMIT_OVERRUN (uint32):8192 –
  • RECEIVER_STATUS_AGC_OUT_OF_RANGE (uint32):16384 –
  • RECEIVER_STATUS_INS_RESET (uint32):65536 –
  • RECEIVER_STATUS_ALMANAC_INVALID (uint32):262144 –
  • RECEIVER_STATUS_POSITION_SOLUTION_INVALID (uint32):524288 –
  • RECEIVER_STATUS_POSITION_NOT_FIXED (uint32):1048576 –
  • RECEIVER_STATUS_CLOCK_STEERING_DISABLED (uint32):2097152 –
  • RECEIVER_STATUS_CLOCK_MODEL_INVALID (uint32):4194304 –
  • RECEIVER_STATUS_EXTERNAL_OSCILLATOR_LOCKED (uint32):8388608 –
  • RECEIVER_STATUS_SOFTWARE_RESOURCE_WARNING (uint32):16777216 –
  • RECEIVER_STATUS_AUXILIARY3_EVENT (uint32):536870912 –
  • RECEIVER_STATUS_AUXILIARY2_EVENT (uint32):1073741824 –
  • RECEIVER_STATUS_AUXILIARY1_EVENT (uint32):2147483648 –

On the wire, this header is preceeded by three sync bytes, which are 0xAA 0x44 0x12, and a uint8 which is the header length.

Message ID of the log being output.

# On the wire, this header is preceeded by three sync bytes,
# which are 0xAA 0x44 0x12, and a uint8 which is the header length.

# Message ID of the log being output.
uint16 id

# Measurement source, format, response bit.
uint8 msg_type

uint8 port_addr
uint16 length
uint16 sequence

uint8 idle_time
uint8 time_status

uint16 gps_week
uint32 gps_week_seconds

# Table 3 in the SPAN on OEM6 manual.
# See: http://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf#page=13
uint32 receiver_status
uint32 RECEIVER_STATUS_ERROR=1
uint32 RECEIVER_STATUS_TEMPERATURE_WARNING=2
uint32 RECEIVER_STATUS_VOLTAGE_SUPPLY_WARNING=4
uint32 RECEIVER_STATUS_ANTENNA_UNPOWERED=8
uint32 RECEIVER_STATUS_LNA_FAILURE=16
uint32 RECEIVER_STATUS_ANTENNA_OPEN=32
uint32 RECEIVER_STATUS_ANTENNA_SHORTED=64
uint32 RECEIVER_STATUS_CPU_OVERLOADED=128
uint32 RECEIVER_STATUS_COM1_BUFFER_OVERRUN=256
uint32 RECEIVER_STATUS_COM2_BUFFER_OVERRUN=512
uint32 RECEIVER_STATUS_COM3_BUFFER_OVERRUN=1024
uint32 RECEIVER_STATUS_LINK_OVERLOAD=2048
uint32 RECEIVER_STATUS_AUX_TRANSMIT_OVERRUN=8192
uint32 RECEIVER_STATUS_AGC_OUT_OF_RANGE=16384
uint32 RECEIVER_STATUS_INS_RESET=65536
uint32 RECEIVER_STATUS_ALMANAC_INVALID=262144
uint32 RECEIVER_STATUS_POSITION_SOLUTION_INVALID=524288
uint32 RECEIVER_STATUS_POSITION_NOT_FIXED=1048576
uint32 RECEIVER_STATUS_CLOCK_STEERING_DISABLED=2097152
uint32 RECEIVER_STATUS_CLOCK_MODEL_INVALID=4194304
uint32 RECEIVER_STATUS_EXTERNAL_OSCILLATOR_LOCKED=8388608
uint32 RECEIVER_STATUS_SOFTWARE_RESOURCE_WARNING=16777216
uint32 RECEIVER_STATUS_AUXILIARY3_EVENT=536870912
uint32 RECEIVER_STATUS_AUXILIARY2_EVENT=1073741824
uint32 RECEIVER_STATUS_AUXILIARY1_EVENT=2147483648

uint16 reserved
uint16 software_version
novatel_msgs/BESTPOS
Field:
  • header (novatel_msgs/CommonHeader) –
  • solution_status (uint32) –
  • position_type (uint32) –
  • latitude (float64) –
  • longitude (float64) –
  • altitude (float64) –
  • undulation (float32) –
  • datum_id (uint32) –
  • latitude_std (float32) –
  • longitude_std (float32) –
  • altitude_std (float32) –
  • stn_id[4] (novatel_msgs/char) –
  • diff_age (float32) –
  • sol_age (float32) –
  • svs (uint8) –
  • sol_svs (uint8) –
  • l1_svs (uint8) –
  • mult_svs (uint8) –
  • reserved (uint8) –
  • extsolstat (uint8) –
  • gal_sig_mask (uint8) –
  • sig_mask (uint8) –
Constant:
  • SOLUTION_STATUS_SOLUTION_COMPUTED (uint32):0 –
  • SOLUTION_STATUS_INSUFFICIENT_OBSERVATIONS (uint32):1 –
  • SOLUTION_STATUS_NO_CONVERGENCE (uint32):2 –
  • SOLUTION_STATUS_SINGULARITY_AT_PARAMETERS_MATRIX (uint32):3 –
  • SOLUTION_STATUS_COVARIANCE_TRACE_EXCEEDS_MAXIMUM (uint32):4 –
  • SOLUTION_STATUS_TEST_DISTANCE_EXCEEDED (uint32):5 –
  • SOLUTION_STATUS_COLD_START (uint32):6 –
  • SOLUTION_STATUS_VELOCITY_OR_HEIGHT_LIMIT_EXCEEDED (uint32):7 –
  • SOLUTION_STATUS_VARIANCE_EXCEEDS_LIMITS (uint32):8 –
  • SOLUTION_STATUS_RESIDUALS_TOO_LARGE (uint32):9 –
  • SOLUTION_STATUS_INTEGRITY_WARNING (uint32):13 –
  • SOLUTION_STATUS_PENDING (uint32):18 –
  • SOLUTION_STATUS_INVALID_FIX (uint32):19 –
  • SOLUTION_STATUS_INVALID_RATE (uint32):22 –
  • POSITION_TYPE_NONE (uint32):0 –
  • POSITION_TYPE_FIXED (uint32):1 –
  • POSITION_TYPE_FIXEDHEIGHT (uint32):2 –
  • POSITION_TYPE_FLOATCONV (uint32):4 –
  • POSITION_TYPE_WIDELANE (uint32):5 –
  • POSITION_TYPE_NARROWLANE (uint32):6 –
  • POSITION_TYPE_DOPPLER_VELOCITY (uint32):8 –
  • POSITION_TYPE_SINGLE (uint32):16 –
  • POSITION_TYPE_PSRDIFF (uint32):17 –
  • POSITION_TYPE_WAAS (uint32):18 –
  • POSITION_TYPE_PROPAGATED (uint32):19 –
  • POSITION_TYPE_OMNISTAR (uint32):20 –
  • POSITION_TYPE_L1_FLOAT (uint32):32 –
  • POSITION_TYPE_IONOFREE_FLOAT (uint32):33 –
  • POSITION_TYPE_NARROW_FLOAT (uint32):34 –
  • POSITION_TYPE_L1_INT (uint32):48 –
  • POSITION_TYPE_WIDE_INT (uint32):49 –
  • POSITION_TYPE_NARROW_INT (uint32):50 –
  • POSITION_TYPE_RTK_DIRECT_INS (uint32):51 –
  • POSITION_TYPE_INS_SBAS (uint32):52 –
  • POSITION_TYPE_INS_PSRSP (uint32):53 –
  • POSITION_TYPE_INS_PSRDIFF (uint32):54 –
  • POSITION_TYPE_INS_RTKFLOAT (uint32):55 –
  • POSITION_TYPE_INS_RTKFIXED (uint32):56 –
  • POSITION_TYPE_INS_OMNISTAR (uint32):57 –
  • POSITION_TYPE_INS_OMNISTAR_HP (uint32):58 –
  • POSITION_TYPE_INS_OMNISTAR_XP (uint32):59 –
  • POSITION_TYPE_OMNISTAR_HP (uint32):64 –
  • POSITION_TYPE_OMNISTAR_XP (uint32):65 –
  • POSITION_TYPE_PPP_CONVERGING (uint32):68 –
  • POSITION_TYPE_PPP (uint32):69 –
  • POSITION_TYPE_INS_PPP_CONVERGING (uint32):73 –
  • POSITION_TYPE_INS_PPP (uint32):74 –

message 42

# message 42
novatel_msgs/CommonHeader header

# Table 21 in the SPAN on OEM6 manual.
# See: http://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf#page=99
uint32 solution_status
uint32 SOLUTION_STATUS_SOLUTION_COMPUTED=0
uint32 SOLUTION_STATUS_INSUFFICIENT_OBSERVATIONS=1
uint32 SOLUTION_STATUS_NO_CONVERGENCE=2
uint32 SOLUTION_STATUS_SINGULARITY_AT_PARAMETERS_MATRIX=3
uint32 SOLUTION_STATUS_COVARIANCE_TRACE_EXCEEDS_MAXIMUM=4
uint32 SOLUTION_STATUS_TEST_DISTANCE_EXCEEDED=5
uint32 SOLUTION_STATUS_COLD_START=6
uint32 SOLUTION_STATUS_VELOCITY_OR_HEIGHT_LIMIT_EXCEEDED=7
uint32 SOLUTION_STATUS_VARIANCE_EXCEEDS_LIMITS=8
uint32 SOLUTION_STATUS_RESIDUALS_TOO_LARGE=9
uint32 SOLUTION_STATUS_INTEGRITY_WARNING=13
uint32 SOLUTION_STATUS_PENDING=18
uint32 SOLUTION_STATUS_INVALID_FIX=19
uint32 SOLUTION_STATUS_INVALID_RATE=22

# Table 22 in the SPAN on OEM6 manual.
# http://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf#page=100
uint32 position_type
uint32 POSITION_TYPE_NONE=0
uint32 POSITION_TYPE_FIXED=1
uint32 POSITION_TYPE_FIXEDHEIGHT=2
uint32 POSITION_TYPE_FLOATCONV=4
uint32 POSITION_TYPE_WIDELANE=5
uint32 POSITION_TYPE_NARROWLANE=6
uint32 POSITION_TYPE_DOPPLER_VELOCITY=8
uint32 POSITION_TYPE_SINGLE=16
uint32 POSITION_TYPE_PSRDIFF=17
uint32 POSITION_TYPE_WAAS=18
uint32 POSITION_TYPE_PROPAGATED=19
uint32 POSITION_TYPE_OMNISTAR=20
uint32 POSITION_TYPE_L1_FLOAT=32
uint32 POSITION_TYPE_IONOFREE_FLOAT=33
uint32 POSITION_TYPE_NARROW_FLOAT=34
uint32 POSITION_TYPE_L1_INT=48
uint32 POSITION_TYPE_WIDE_INT=49
uint32 POSITION_TYPE_NARROW_INT=50
uint32 POSITION_TYPE_RTK_DIRECT_INS=51
uint32 POSITION_TYPE_INS_SBAS=52
uint32 POSITION_TYPE_INS_PSRSP=53
uint32 POSITION_TYPE_INS_PSRDIFF=54
uint32 POSITION_TYPE_INS_RTKFLOAT=55
uint32 POSITION_TYPE_INS_RTKFIXED=56
uint32 POSITION_TYPE_INS_OMNISTAR=57
uint32 POSITION_TYPE_INS_OMNISTAR_HP=58
uint32 POSITION_TYPE_INS_OMNISTAR_XP=59
uint32 POSITION_TYPE_OMNISTAR_HP=64
uint32 POSITION_TYPE_OMNISTAR_XP=65
uint32 POSITION_TYPE_PPP_CONVERGING=68
uint32 POSITION_TYPE_PPP=69
uint32 POSITION_TYPE_INS_PPP_CONVERGING=73
uint32 POSITION_TYPE_INS_PPP=74

float64 latitude
float64 longitude
float64 altitude

float32 undulation
uint32 datum_id

float32 latitude_std
float32 longitude_std
float32 altitude_std

char[4] stn_id

float32 diff_age
float32 sol_age

uint8 svs
uint8 sol_svs
uint8 l1_svs
uint8 mult_svs
uint8 reserved
uint8 extsolstat
uint8 gal_sig_mask
uint8 sig_mask
novatel_msgs/CommonFooter
Field:
  • checksum (uint32) – 
uint32 checksum
novatel_msgs/INSCOV
Field:
  • header (novatel_msgs/CommonHeader) –
  • week (int32) –
  • gpssec (float64) –
  • pos11 (float64) –
  • pos12 (float64) –
  • pos13 (float64) –
  • pos21 (float64) –
  • pos22 (float64) –
  • pos23 (float64) –
  • pos31 (float64) –
  • pos32 (float64) –
  • pos33 (float64) –
  • att11 (float64) –
  • att12 (float64) –
  • att13 (float64) –
  • att21 (float64) –
  • att22 (float64) –
  • att23 (float64) –
  • att31 (float64) –
  • att32 (float64) –
  • att33 (float64) –
  • vel11 (float64) –
  • vel12 (float64) –
  • vel13 (float64) –
  • vel21 (float64) –
  • vel22 (float64) –
  • vel23 (float64) –
  • vel31 (float64) –
  • vel32 (float64) –
  • vel33 (float64) –

message 264

# message 264
novatel_msgs/CommonHeader header

int32 week
float64 gpssec

float64 pos11
float64 pos12
float64 pos13
float64 pos21
float64 pos22
float64 pos23
float64 pos31
float64 pos32
float64 pos33
float64 att11
float64 att12
float64 att13
float64 att21
float64 att22
float64 att23
float64 att31
float64 att32
float64 att33
float64 vel11
float64 vel12
float64 vel13
float64 vel21
float64 vel22
float64 vel23
float64 vel31
float64 vel32
float64 vel33