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| Code Block |
|---|
message GnssData {
int64 timestamp = 1;
double latitude = 3;
double longitude = 4;
double period = 5;
int32 frame_count = 6;
double latency = 8;
string sensor_name = 11;
Quaternion orientation = 12;
double height = 13;
double vertical_accuracy = 14;
double horizontal_accuracy = 15;
int32 quality = 16;
int32 n_sat = 17;
double hdop = 18;
double tmg = 19;
double heading = 20;
double altitude = 21;
double undulation = 22;
} |
Important Output Data
Parameter name | Description | Unit |
|---|---|---|
timestamp | Timestamp of current GNSS data | nanoseconds (in case GPS time is used as clock this is the duration since start of the day in UTC time) |
longitude | Longitude part of GPS position | degree |
latitude | Latitude part of GPS position | degree |
height | The height of the receiver above the earth surface reference ellipsoid | m |
quality | Quality of the GPS signal: 0: Fix not valid | n/a (comment: for RTK enabled systems RTK fix provides the highest cm accuracy. If this quality can’t be reached, the number of visible satellites or connection to base station might be an issue.) |
Odometry
The vehicle source is the data source that reads raw CAN data messages from a given CAN bus interface and parses the vehicle data using to the provided CAN protocol.
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