GpsInfo
This is a ROS message definition.
Source
builtin_interfaces/Time stamp
## GPS_FIX_TYPE enum
uint8 GPS_FIX_TYPE_NO_GPS = 0 # no gps connected
uint8 GPS_FIX_TYPE_NO_FIX = 1 # no position information, gps is connected
uint8 GPS_FIX_TYPE_2D_FIX = 2 # 2D position
uint8 GPS_FIX_TYPE_3D_FIX = 3 # 3D position
uint8 GPS_FIX_TYPE_DGPS = 4 # dgps/sbas aided 3D position
uint8 GPS_FIX_TYPE_RTK_FLOATR = 5 # tk float, 3D position
uint8 GPS_FIX_TYPE_RTK_FIXEDR = 6 # tk fixed, 3D position
uint8 GPS_FIX_TYPE_STATIC = 7 # static fixed, typically used for base stations
uint8 GPS_FIX_TYPE_PPP = 8 # ppp, 3D position
uint8 fix_type # [GPS_FIX_TYPE] gps fix type
float64 lat # [deg] latitude (WGS84, egm96 ellipsoid)
float64 lon # [deg] longitude (WGS84, egm96 ellipsoid)
float32 alt # [m] altitude (MSL). positive for up. note that virtually all gps modules provide the msl altitude in addition to the wgs84 altitude.
uint16 eph # gps hdop horizontal dilution of position (unitless). if unknown, set to: uint16_max
uint16 epv # gps vdop vertical dilution of position (unitless). if unknown, set to: uint16_max
float32 vel # [m/s] gps ground speed. if unknown, set to: uint16_max
float32 cog # [deg] course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. if unknown, set to: uint16_max
uint8 satellites_visible # number of satellites visible. if unknown, set to 255
float32 alt_ellipsoid # [m] altitude (above wgs84, egm96 ellipsoid). positive for up.
float32 h_acc # [m] position uncertainty. positive for up.
float32 v_acc # [m] altitude uncertainty. positive for up.
float32 vel_acc # [m/s] speed uncertainty. positive for up.
float32 hdg_acc # [deg] heading / track uncertainty
float32 yaw # [deg] yaw in earth frame from north.
uint8 dgps_num_sats # number of dgps satellites
float32 dgps_age # [s] age of dgps info
float32 baseline_dist # [m] distance to the basestation