nav_sat_fix.hpp

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namespace sensor_msgs::msg {
class NavSatFix {
public:
    // 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.
    std_msgs::msg::Header header;
 
    // Satellite fix status information.
    msg::NavSatStatus status;
 
    // Latitude [degrees]. Positive is north of equator; negative is south.
    double latitude;
 
    // Longitude [degrees]. Positive is east of prime meridian; negative is west.
    double longitude;
 
    // Altitude [m]. Positive is above the WGS 84 ellipsoid
    // (quiet NaN if no altitude is available).
    double 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.
    std::array<double, 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.
 
    static const uint8_t COVARIANCE_TYPE_UNKNOWN = 0;
    static const uint8_t COVARIANCE_TYPE_APPROXIMATED = 1;
    static const uint8_t COVARIANCE_TYPE_DIAGONAL_KNOWN = 2;
    static const uint8_t COVARIANCE_TYPE_KNOWN = 3;
 
    uint8_t position_covariance_type;
};
} // namespace sensor_msgs::msg