what is "gnss_pose "'s params unit? cm? feet? or anything?

ROS1

asked 2018-04-16 00:28:58 -0500

qrf
1 ●2 ●4 ●4

updated 2018-04-16 02:08:10 -0500

when i run a autoware demo, use the $rostopic echo /gnss_pose, i got the following params.what do they stand for? also ,i'm confused that ,dose "nmea_sentence" equals to "gnss_pose"?( because the GPS is one kind of GNSS)

 header: 
  seq: 1530
  stamp: 
    secs: 1427157752
    nsecs: 939363002
  frame_id: "map"
pose: 
  position: 
    x: -14705.3718516
    y: -84829.3661179
    z: 46.8967
  orientation: 
    x: -0.115893314019
    y: 0.00346113848484
    z: -0.815050443916
    w: -0.56767026887

what is position mean?

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Comments

If you can add the output of rostopic info /gnss_pose, we can probably link you to the documentation of the msg type. This is probably a geometry_msgs/Pose, which, as everything in ROS, uses SI units for its fields (ie: metres, radians, etc). Note that orientation is a Quaternion.