Added KMBinary message

CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(nav_msgs REQUIRED)
 set(msg_files
   "msg/ThrusterForces.msg"
   "msg/Pwm.msg"
+  "msg/KMBinary.msg"
 )
 
 # Generate ROS 2 message interfaces

msg/KMBinary.msg

@@ -0,0 +1,41 @@
+# Epoch 1970-01-01 UTC time, ignoring leap seconds.
+uint32 utc_seconds
+uint32 utc_nanoseconds
+
+# One bit per status info, 1= active, 0= inactive
+uint32 status
+
+float64 latitude
+float64 longitude
+float32 ellipsoid_height
+
+# Using NED coordinate system
+float32 roll
+float32 pitch
+float32 heading
+float32 heave
+
+float32 roll_rate
+float32 pitch_rate
+float32 yaw_rate
+
+float32 north_velocity
+float32 east_velocity
+float32 down_velocity
+
+float32 latitude_error
+float32 longitude_error
+float32 height_error
+float32 roll_error
+float32 pitch_error
+float32 heading_error
+float32 heave_error
+
+float32 north_acceleration
+float32 east_acceleration
+float32 down_acceleration
+
+uint32 delayed_heave_utc_seconds
+uint32 delayed_heave_utc_nanoseconds
+float32 delayed_heave
+