From d3a361fee8c20c82e3eb29365021db9cb67273ce Mon Sep 17 00:00:00 2001 From: alekskl01 Date: Sun, 15 Oct 2023 17:01:26 +0200 Subject: [PATCH] Added KMBinary message --- CMakeLists.txt | 1 + msg/KMBinary.msg | 41 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 42 insertions(+) create mode 100644 msg/KMBinary.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index 93ff161..0dd216d 100644 --- a/CMakeLists.txt +++ b/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 diff --git a/msg/KMBinary.msg b/msg/KMBinary.msg new file mode 100644 index 0000000..66b1312 --- /dev/null +++ b/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 +