Vehicleodometry

VehicleOdometry (UORB message)

Vehicle odometry data. Fits ROS REP 147 for aerial vehicles

source file

```c

Vehicle odometry data. Fits ROS REP 147 for aerial vehicles

uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample

uint8 POSE_FRAME_UNKNOWN = 0 uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference uint8 pose_frame # Position and orientation frame of reference

float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown

uint8 VELOCITY_FRAME_UNKNOWN = 0 uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame uint8 velocity_frame # Reference frame of the velocity data

float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown

float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown

float32[3] position_variance float32[3] orientation_variance float32[3] velocity_variance

uint8 reset_counter int8 quality

TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry

TOPICS estimator_odometry

```