Pose Covariance for swiftnav_ros rtk message
Hello all,
I am using Piski Multi RTK gps system for centimeter accurate pose information.
Below is a snapshot of a Nav_msgs::Odometry message, as published by the swiftnav_ros package, after taking my little robot outside and driving it around, with the gps in RTK mode.
header:
seq: 183
stamp:
secs: 1507219077
nsecs: 699150124
frame_id: gps
child_frame_id: ''
pose:
pose:
position:
x: 2.89
y: 4.694
z: -0.749
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
covariance: [324000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 324000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1296000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
twist:
twist:
linear:
x: -1.111
y: 0.852
z: 0.016
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0022500000000000003, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0022500000000000003, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0046500000000000005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
---
header:
seq: 184
stamp:
secs: 1507219077
nsecs: 799420749
frame_id: gps
child_frame_id: ''
pose:
pose:
position:
x: 2.779
y: 4.766
z: -0.75
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
covariance: [324000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 324000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1296000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
twist:
twist:
linear:
x: -1.099
y: 0.715
z: -0.026
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0022500000000000003, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0022500000000000003, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0046500000000000005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
Please note that the covariances for x, y, and z pose are 529000000.0, 529000000.0, and 2601000000.0, respectively.
These numbers seem obsenely large, or is this normal and correct? The numbers for the twist message seem reasonable.. My piksi was definitely in RTK Mode ...
Please always use the Preformatted Text button (the one with
101010
on it) when copy-pasting console text (likerostopic echo ..
output). That makes it much easier to read. Thanks.thanks gvdhoorn