/usr/share/sensor_msgs/msg/NavSatFix.msg is in libsensor-msgs-dev 1.12.3-5.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | # Navigation Satellite fix for any Global Navigation Satellite System
#
# Specified using the WGS 84 reference ellipsoid
# header.stamp specifies the ROS time for this measurement (the
# corresponding satellite time may be reported using the
# sensor_msgs/TimeReference message).
#
# header.frame_id is the frame of reference reported by the satellite
# receiver, usually the location of the antenna. This is a
# Euclidean frame relative to the vehicle, not a reference
# ellipsoid.
Header header
# satellite fix status information
NavSatStatus status
# Latitude [degrees]. Positive is north of equator; negative is south.
float64 latitude
# Longitude [degrees]. Positive is east of prime meridian; negative is west.
float64 longitude
# Altitude [m]. Positive is above the WGS 84 ellipsoid
# (quiet NaN if no altitude is available).
float64 altitude
# Position covariance [m^2] defined relative to a tangential plane
# through the reported position. The components are East, North, and
# Up (ENU), in row-major order.
#
# Beware: this coordinate system exhibits singularities at the poles.
float64[9] position_covariance
# If the covariance of the fix is known, fill it in completely. If the
# GPS receiver provides the variance of each measurement, put them
# along the diagonal. If only Dilution of Precision is available,
# estimate an approximate covariance from that.
uint8 COVARIANCE_TYPE_UNKNOWN = 0
uint8 COVARIANCE_TYPE_APPROXIMATED = 1
uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
uint8 COVARIANCE_TYPE_KNOWN = 3
uint8 position_covariance_type
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