Repository navigation
Example 2021 FirstFleet Document
Marc Hanheide edited this page May 18, 2022
·
2 revisions
{
"_id": 1,
"_ts_meta.session": 1,
"_ts_meta.sys_time": 1,
"robot.current_node.data": 1
}Here's one full document extracted from the collection 2021_riseholme_framos_cameras:
{
"_id": "ObjectId(\"609aa0314e5e824f5198411b\")",
"_ts_meta": {
"sys_time": 1620746289.157533,
"session": "ObjectId(\"609a9f904e5e824f51984119\")",
"ros_time": 1620746289.157572
},
"cameras": {
"side": {
"color": {
"image": {
"_connection_header": {
"message_definition": "# This message contains an uncompressed image\n# (0, 0) is at top-left corner of image\n#\n\nHeader header # Header timestamp should be acquisition time of image\n # Header frame_id should be optical frame of camera\n # origin of frame should be optical center of camera\n # +x should point to the right in the image\n # +y should point down in the image\n # +z should point into to plane of the image\n # If the frame_id here and the frame_id of the CameraInfo\n # message associated with the image conflict\n # the behavior is undefined\n\nuint32 height # image height, that is, number of rows\nuint32 width # image width, that is, number of columns\n\n# The legal values for encoding are in file src/image_encodings.cpp\n# If you want to standardize a new string format, join\n# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\nstring encoding # Encoding of pixels -- channel meaning, ordering, size\n # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\nuint8 is_bigendian # is this data bigendian?\nuint32 step # Full row length in bytes\nuint8[] data # actual matrix data, size is (step * rows)\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n",
"callerid": "/camera/realsense2_camera_manager",
"latching": "0",
"md5sum": "060021388200f6f0f447d0fcd9c64743",
"topic": "/camera/camera2/color/image_raw",
"type": "sensor_msgs/Image"
},
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 98470408,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.114745
}
},
"frame_id": "camera2_color_optical_frame",
"seq": 5149,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.114799
}
},
"encoding": "rgb8",
"height": 720,
"width": 1280,
"step": 3840,
"is_bigendian": 0,
"data": "BinData(0,\"V1E3WVM5WVM7WVM7W1I9W1I9XVE9X1M/... (2,764,800 bytes)\")",
"_ros_meta": {
"type": "sensor_msgs/Image",
"time": 1620746289.114872
}
},
"intrinsics": {
"roi": {
"do_rectify": false,
"height": 0,
"width": 0,
"y_offset": 0,
"x_offset": 0,
"_ros_meta": {
"type": "sensor_msgs/RegionOfInterest",
"time": 1620746289.115137
}
},
"_connection_header": {
"message_definition": "# This message defines meta information for a camera. It should be in a\n# camera namespace on topic \"camera_info\" and accompanied by up to five\n# image topics named:\n#\n# image_raw - raw data from the camera driver, possibly Bayer encoded\n# image - monochrome, distorted\n# image_color - color, distorted\n# image_rect - monochrome, rectified\n# image_rect_color - color, rectified\n#\n# The image_pipeline contains packages (image_proc, stereo_image_proc)\n# for producing the four processed image topics from image_raw and\n# camera_info. The meaning of the camera parameters are described in\n# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n#\n# The image_geometry package provides a user-friendly interface to\n# common operations using this meta information. If you want to, e.g.,\n# project a 3d point into image coordinates, we strongly recommend\n# using image_geometry.\n#\n# If the camera is uncalibrated, the matrices D, K, R, P should be left\n# zeroed out. In particular, clients may assume that K[0] == 0.0\n# indicates an uncalibrated camera.\n\n#######################################################################\n# Image acquisition info #\n#######################################################################\n\n# Time of image acquisition, camera coordinate frame ID\nHeader header # Header timestamp should be acquisition time of image\n # Header frame_id should be optical frame of camera\n # origin of frame should be optical center of camera\n # +x should point to the right in the image\n # +y should point down in the image\n # +z should point into the plane of the image\n\n\n#######################################################################\n# Calibration Parameters #\n#######################################################################\n# These are fixed during camera calibration. Their values will be the #\n# same in all messages until the camera is recalibrated. Note that #\n# self-calibrating systems may \"recalibrate\" frequently. #\n# #\n# The internal parameters can be used to warp a raw (distorted) image #\n# to: #\n# 1. An undistorted image (requires D and K) #\n# 2. A rectified image (requires D, K, R) #\n# The projection matrix P projects 3D points into the rectified image.#\n#######################################################################\n\n# The image dimensions with which the camera was calibrated. Normally\n# this will be the full camera resolution in pixels.\nuint32 height\nuint32 width\n\n# The distortion model used. Supported models are listed in\n# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n# simple model of radial and tangential distortion - is sufficient.\nstring distortion_model\n\n# The distortion parameters, size depending on the distortion model.\n# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\nfloat64[] D\n\n# Intrinsic camera matrix for the raw (distorted) images.\n# [fx 0 cx]\n# K = [ 0 fy cy]\n# [ 0 0 1]\n# Projects 3D points in the camera coordinate frame to 2D pixel\n# coordinates using the focal lengths (fx, fy) and principal point\n# (cx, cy).\nfloat64[9] K # 3x3 row-major matrix\n\n# Rectification matrix (stereo cameras only)\n# A rotation matrix aligning the camera coordinate system to the ideal\n# stereo image plane so that epipolar lines in both stereo images are\n# parallel.\nfloat64[9] R # 3x3 row-major matrix\n\n# Projection/camera matrix\n# [fx' 0 cx' Tx]\n# P = [ 0 fy' cy' Ty]\n# [ 0 0 1 0]\n# By convention, this matrix specifies the intrinsic (camera) matrix\n# of the processed (rectified) image. That is, the left 3x3 portion\n# is the normal camera intrinsic matrix for the rectified image.\n# It projects 3D points in the camera coordinate frame to 2D pixel\n# coordinates using the focal lengths (fx', fy') and principal point\n# (cx', cy') - these may differ from the values in K.\n# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n# also have R = the identity and P[1:3,1:3] = K.\n# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n# position of the optical center of the second camera in the first\n# camera's frame. We assume Tz = 0 so both cameras are in the same\n# stereo image plane. The first camera always has Tx = Ty = 0. For\n# the right (second) camera of a horizontal stereo pair, Ty = 0 and\n# Tx = -fx' * B, where B is the baseline between the cameras.\n# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n# the rectified image is given by:\n# [u v w]' = P * [X Y Z 1]'\n# x = u / w\n# y = v / w\n# This holds for both images of a stereo pair.\nfloat64[12] P # 3x4 row-major matrix\n\n\n#######################################################################\n# Operational Parameters #\n#######################################################################\n# These define the image region actually captured by the camera #\n# driver. Although they affect the geometry of the output image, they #\n# may be changed freely without recalibrating the camera. #\n#######################################################################\n\n# Binning refers here to any camera setting which combines rectangular\n# neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n# resolution of the output image to\n# (width / binning_x) x (height / binning_y).\n# The default values binning_x = binning_y = 0 is considered the same\n# as binning_x = binning_y = 1 (no subsampling).\nuint32 binning_x\nuint32 binning_y\n\n# Region of interest (subwindow of full camera resolution), given in\n# full resolution (unbinned) image coordinates. A particular ROI\n# always denotes the same window of pixels on the camera sensor,\n# regardless of binning settings.\n# The default setting of roi (all values 0) is considered the same as\n# full resolution (roi.width = width, roi.height = height).\nRegionOfInterest roi\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n\n================================================================================\nMSG: sensor_msgs/RegionOfInterest\n# This message is used to specify a region of interest within an image.\n#\n# When used to specify the ROI setting of the camera when the image was\n# taken, the height and width fields should either match the height and\n# width fields for the associated image; or height = width = 0\n# indicates that the full resolution image was captured.\n\nuint32 x_offset # Leftmost pixel of the ROI\n # (0 if the ROI includes the left edge of the image)\nuint32 y_offset # Topmost pixel of the ROI\n # (0 if the ROI includes the top edge of the image)\nuint32 height # Height of ROI\nuint32 width # Width of ROI\n\n# True if a distinct rectified ROI should be calculated from the \"raw\"\n# ROI in this message. Typically this should be False if the full image\n# is captured (ROI not used), and True if a subwindow is captured (ROI\n# used).\nbool do_rectify\n",
"callerid": "/camera/realsense2_camera_manager",
"latching": "0",
"md5sum": "c9a58c1b0b154e0e6da7578cb991d214",
"topic": "/camera/camera2/color/camera_info",
"type": "sensor_msgs/CameraInfo"
},
"D": [
0,
0,
0,
0,
0
],
"P": [
917.5028076171875,
0,
628.446533203125,
0,
0,
917.1815185546875,
366.3260192871094,
0,
0,
0,
1,
0
],
"K": [
917.5028076171875,
0,
628.446533203125,
0,
917.1815185546875,
366.3260192871094,
0,
0,
1
],
"height": 720,
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 98470408,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.115869
}
},
"frame_id": "camera2_color_optical_frame",
"seq": 5149,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.115916
}
},
"R": [
1,
0,
0,
0,
1,
0,
0,
0,
1
],
"binning_x": 0,
"binning_y": 0,
"width": 1280,
"_ros_meta": {
"type": "sensor_msgs/CameraInfo",
"time": 1620746289.116121
},
"distortion_model": "plumb_bob"
}
},
"aligned_depth_to_color": {
"image": {
"_connection_header": {
"message_definition": "# This message contains an uncompressed image\n# (0, 0) is at top-left corner of image\n#\n\nHeader header # Header timestamp should be acquisition time of image\n # Header frame_id should be optical frame of camera\n # origin of frame should be optical center of camera\n # +x should point to the right in the image\n # +y should point down in the image\n # +z should point into to plane of the image\n # If the frame_id here and the frame_id of the CameraInfo\n # message associated with the image conflict\n # the behavior is undefined\n\nuint32 height # image height, that is, number of rows\nuint32 width # image width, that is, number of columns\n\n# The legal values for encoding are in file src/image_encodings.cpp\n# If you want to standardize a new string format, join\n# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\nstring encoding # Encoding of pixels -- channel meaning, ordering, size\n # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\nuint8 is_bigendian # is this data bigendian?\nuint32 step # Full row length in bytes\nuint8[] data # actual matrix data, size is (step * rows)\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n",
"callerid": "/camera/realsense2_camera_manager",
"latching": "0",
"md5sum": "060021388200f6f0f447d0fcd9c64743",
"topic": "/camera/camera2/aligned_depth_to_color/image_raw",
"type": "sensor_msgs/Image"
},
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 63794064,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.116301
}
},
"frame_id": "camera2_color_optical_frame",
"seq": 4780,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.11634
}
},
"encoding": "16UC1",
"height": 720,
"width": 1280,
"step": 2560,
"is_bigendian": 0,
"data": "BinData(0,\"VglWCYAJgAmsCawJ0AnQCf8J/wkJCgkK... (1,843,200 bytes)\")",
"_ros_meta": {
"type": "sensor_msgs/Image",
"time": 1620746289.116397
}
}
}
},
"bottom": {
"color": {
"image": {
"_connection_header": {
"message_definition": "# This message contains an uncompressed image\n# (0, 0) is at top-left corner of image\n#\n\nHeader header # Header timestamp should be acquisition time of image\n # Header frame_id should be optical frame of camera\n # origin of frame should be optical center of camera\n # +x should point to the right in the image\n # +y should point down in the image\n # +z should point into to plane of the image\n # If the frame_id here and the frame_id of the CameraInfo\n # message associated with the image conflict\n # the behavior is undefined\n\nuint32 height # image height, that is, number of rows\nuint32 width # image width, that is, number of columns\n\n# The legal values for encoding are in file src/image_encodings.cpp\n# If you want to standardize a new string format, join\n# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\nstring encoding # Encoding of pixels -- channel meaning, ordering, size\n # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\nuint8 is_bigendian # is this data bigendian?\nuint32 step # Full row length in bytes\nuint8[] data # actual matrix data, size is (step * rows)\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n",
"callerid": "/camera/realsense2_camera_manager",
"latching": "0",
"md5sum": "060021388200f6f0f447d0fcd9c64743",
"topic": "/camera/camera1/color/image_raw",
"type": "sensor_msgs/Image"
},
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 102062033,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.116562
}
},
"frame_id": "camera1_color_optical_frame",
"seq": 4776,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.116598
}
},
"encoding": "rgb8",
"height": 720,
"width": 1280,
"step": 3840,
"is_bigendian": 0,
"data": "BinData(0,\"QUhAQUhAQ0dARUlCSElDRUZAQUVAOz86... (2,764,800 bytes)\")",
"_ros_meta": {
"type": "sensor_msgs/Image",
"time": 1620746289.116657
}
},
"intrinsics": {
"roi": {
"do_rectify": false,
"height": 0,
"width": 0,
"y_offset": 0,
"x_offset": 0,
"_ros_meta": {
"type": "sensor_msgs/RegionOfInterest",
"time": 1620746289.11679
}
},
"_connection_header": {
"message_definition": "# This message defines meta information for a camera. It should be in a\n# camera namespace on topic \"camera_info\" and accompanied by up to five\n# image topics named:\n#\n# image_raw - raw data from the camera driver, possibly Bayer encoded\n# image - monochrome, distorted\n# image_color - color, distorted\n# image_rect - monochrome, rectified\n# image_rect_color - color, rectified\n#\n# The image_pipeline contains packages (image_proc, stereo_image_proc)\n# for producing the four processed image topics from image_raw and\n# camera_info. The meaning of the camera parameters are described in\n# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n#\n# The image_geometry package provides a user-friendly interface to\n# common operations using this meta information. If you want to, e.g.,\n# project a 3d point into image coordinates, we strongly recommend\n# using image_geometry.\n#\n# If the camera is uncalibrated, the matrices D, K, R, P should be left\n# zeroed out. In particular, clients may assume that K[0] == 0.0\n# indicates an uncalibrated camera.\n\n#######################################################################\n# Image acquisition info #\n#######################################################################\n\n# Time of image acquisition, camera coordinate frame ID\nHeader header # Header timestamp should be acquisition time of image\n # Header frame_id should be optical frame of camera\n # origin of frame should be optical center of camera\n # +x should point to the right in the image\n # +y should point down in the image\n # +z should point into the plane of the image\n\n\n#######################################################################\n# Calibration Parameters #\n#######################################################################\n# These are fixed during camera calibration. Their values will be the #\n# same in all messages until the camera is recalibrated. Note that #\n# self-calibrating systems may \"recalibrate\" frequently. #\n# #\n# The internal parameters can be used to warp a raw (distorted) image #\n# to: #\n# 1. An undistorted image (requires D and K) #\n# 2. A rectified image (requires D, K, R) #\n# The projection matrix P projects 3D points into the rectified image.#\n#######################################################################\n\n# The image dimensions with which the camera was calibrated. Normally\n# this will be the full camera resolution in pixels.\nuint32 height\nuint32 width\n\n# The distortion model used. Supported models are listed in\n# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n# simple model of radial and tangential distortion - is sufficient.\nstring distortion_model\n\n# The distortion parameters, size depending on the distortion model.\n# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\nfloat64[] D\n\n# Intrinsic camera matrix for the raw (distorted) images.\n# [fx 0 cx]\n# K = [ 0 fy cy]\n# [ 0 0 1]\n# Projects 3D points in the camera coordinate frame to 2D pixel\n# coordinates using the focal lengths (fx, fy) and principal point\n# (cx, cy).\nfloat64[9] K # 3x3 row-major matrix\n\n# Rectification matrix (stereo cameras only)\n# A rotation matrix aligning the camera coordinate system to the ideal\n# stereo image plane so that epipolar lines in both stereo images are\n# parallel.\nfloat64[9] R # 3x3 row-major matrix\n\n# Projection/camera matrix\n# [fx' 0 cx' Tx]\n# P = [ 0 fy' cy' Ty]\n# [ 0 0 1 0]\n# By convention, this matrix specifies the intrinsic (camera) matrix\n# of the processed (rectified) image. That is, the left 3x3 portion\n# is the normal camera intrinsic matrix for the rectified image.\n# It projects 3D points in the camera coordinate frame to 2D pixel\n# coordinates using the focal lengths (fx', fy') and principal point\n# (cx', cy') - these may differ from the values in K.\n# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n# also have R = the identity and P[1:3,1:3] = K.\n# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n# position of the optical center of the second camera in the first\n# camera's frame. We assume Tz = 0 so both cameras are in the same\n# stereo image plane. The first camera always has Tx = Ty = 0. For\n# the right (second) camera of a horizontal stereo pair, Ty = 0 and\n# Tx = -fx' * B, where B is the baseline between the cameras.\n# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n# the rectified image is given by:\n# [u v w]' = P * [X Y Z 1]'\n# x = u / w\n# y = v / w\n# This holds for both images of a stereo pair.\nfloat64[12] P # 3x4 row-major matrix\n\n\n#######################################################################\n# Operational Parameters #\n#######################################################################\n# These define the image region actually captured by the camera #\n# driver. Although they affect the geometry of the output image, they #\n# may be changed freely without recalibrating the camera. #\n#######################################################################\n\n# Binning refers here to any camera setting which combines rectangular\n# neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n# resolution of the output image to\n# (width / binning_x) x (height / binning_y).\n# The default values binning_x = binning_y = 0 is considered the same\n# as binning_x = binning_y = 1 (no subsampling).\nuint32 binning_x\nuint32 binning_y\n\n# Region of interest (subwindow of full camera resolution), given in\n# full resolution (unbinned) image coordinates. A particular ROI\n# always denotes the same window of pixels on the camera sensor,\n# regardless of binning settings.\n# The default setting of roi (all values 0) is considered the same as\n# full resolution (roi.width = width, roi.height = height).\nRegionOfInterest roi\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n\n================================================================================\nMSG: sensor_msgs/RegionOfInterest\n# This message is used to specify a region of interest within an image.\n#\n# When used to specify the ROI setting of the camera when the image was\n# taken, the height and width fields should either match the height and\n# width fields for the associated image; or height = width = 0\n# indicates that the full resolution image was captured.\n\nuint32 x_offset # Leftmost pixel of the ROI\n # (0 if the ROI includes the left edge of the image)\nuint32 y_offset # Topmost pixel of the ROI\n # (0 if the ROI includes the top edge of the image)\nuint32 height # Height of ROI\nuint32 width # Width of ROI\n\n# True if a distinct rectified ROI should be calculated from the \"raw\"\n# ROI in this message. Typically this should be False if the full image\n# is captured (ROI not used), and True if a subwindow is captured (ROI\n# used).\nbool do_rectify\n",
"callerid": "/camera/realsense2_camera_manager",
"latching": "0",
"md5sum": "c9a58c1b0b154e0e6da7578cb991d214",
"topic": "/camera/camera1/color/camera_info",
"type": "sensor_msgs/CameraInfo"
},
"D": [
0,
0,
0,
0,
0
],
"P": [
919.3856201171875,
0,
636.48388671875,
0,
0,
918.6912841796875,
378.8315124511719,
0,
0,
0,
1,
0
],
"K": [
919.3856201171875,
0,
636.48388671875,
0,
918.6912841796875,
378.8315124511719,
0,
0,
1
],
"height": 720,
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 102062033,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.117305
}
},
"frame_id": "camera1_color_optical_frame",
"seq": 4776,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.117347
}
},
"R": [
1,
0,
0,
0,
1,
0,
0,
0,
1
],
"binning_x": 0,
"binning_y": 0,
"width": 1280,
"_ros_meta": {
"type": "sensor_msgs/CameraInfo",
"time": 1620746289.117542
},
"distortion_model": "plumb_bob"
}
},
"aligned_depth_to_color": {
"image": {
"_connection_header": {
"message_definition": "# This message contains an uncompressed image\n# (0, 0) is at top-left corner of image\n#\n\nHeader header # Header timestamp should be acquisition time of image\n # Header frame_id should be optical frame of camera\n # origin of frame should be optical center of camera\n # +x should point to the right in the image\n # +y should point down in the image\n # +z should point into to plane of the image\n # If the frame_id here and the frame_id of the CameraInfo\n # message associated with the image conflict\n # the behavior is undefined\n\nuint32 height # image height, that is, number of rows\nuint32 width # image width, that is, number of columns\n\n# The legal values for encoding are in file src/image_encodings.cpp\n# If you want to standardize a new string format, join\n# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\nstring encoding # Encoding of pixels -- channel meaning, ordering, size\n # taken from the list of strings in include/sensor_msgs/image_encodings.h\n\nuint8 is_bigendian # is this data bigendian?\nuint32 step # Full row length in bytes\nuint8[] data # actual matrix data, size is (step * rows)\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n",
"callerid": "/camera/realsense2_camera_manager",
"latching": "0",
"md5sum": "060021388200f6f0f447d0fcd9c64743",
"topic": "/camera/camera1/aligned_depth_to_color/image_raw",
"type": "sensor_msgs/Image"
},
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 70615213,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.117716
}
},
"frame_id": "camera1_color_optical_frame",
"seq": 4755,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.117755
}
},
"encoding": "16UC1",
"height": 720,
"width": 1280,
"step": 2560,
"is_bigendian": 0,
"data": "BinData(0,\"CAIIAggCCAIIAgkCCQIKAgoCCwILAgwC... (1,843,200 bytes)\")",
"_ros_meta": {
"type": "sensor_msgs/Image",
"time": 1620746289.117818
}
}
}
}
},
"robot": {
"laser": {
"angle_min": -3.140000104904175,
"_connection_header": {
"message_definition": "# Single scan from a planar laser range-finder\n#\n# If you have another ranging device with different behavior (e.g. a sonar\n# array), please find or create a different message, since applications\n# will make fairly laser-specific assumptions about this data\n\nHeader header # timestamp in the header is the acquisition time of \n # the first ray in the scan.\n #\n # in frame frame_id, angles are measured around \n # the positive Z axis (counterclockwise, if Z is up)\n # with zero angle being forward along the x axis\n \nfloat32 angle_min # start angle of the scan [rad]\nfloat32 angle_max # end angle of the scan [rad]\nfloat32 angle_increment # angular distance between measurements [rad]\n\nfloat32 time_increment # time between measurements [seconds] - if your scanner\n # is moving, this will be used in interpolating position\n # of 3d points\nfloat32 scan_time # time between scans [seconds]\n\nfloat32 range_min # minimum range value [m]\nfloat32 range_max # maximum range value [m]\n\nfloat32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)\nfloat32[] intensities # intensity data [device-specific units]. If your\n # device does not provide intensities, please leave\n # the array empty.\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n",
"callerid": "/laserscan_multi_merger",
"latching": "0",
"md5sum": "90c7ef2dc6895d81024acba2ac42f369",
"topic": "/scan",
"type": "sensor_msgs/LaserScan"
},
"range_min": 0.30000001192092896,
"scan_time": 0.03333330154418945,
"range_max": 50,
"angle_increment": 0.005799999926239252,
"angle_max": 3.140000104904175,
"ranges": [
8.250385284423828,
8.247235298156738,
8.235186576843262,
8.232078552246094,
8.23974895477295,
8.239392280578613,
8.2362060546875,
8.253662109375,
8.260375022888184,
8.257122993469238,
8.24659538269043,
8.254903793334961,
8.271467208862305,
8.268121719360352,
8.244478225708008,
8.262965202331543,
8.277459144592285,
8.279546737670898,
8.313390731811523,
8.278090476989746,
8.274592399597168,
8.275504112243652,
8.297805786132812,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
28.67593765258789,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
7.168471813201904,
7.07798433303833,
6.974642276763916,
6.847600936889648,
6.782800197601318,
6.76767110824585,
6.759103298187256,
6.713274002075195,
6.716599464416504,
6.720931053161621,
6.747077465057373,
6.787513256072998,
6.800812721252441,
6.805205821990967,
6.967292785644531,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
19.087738037109375,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
9.212650299072266,
9.170018196105957,
9.146597862243652,
9.151552200317383,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
1.7833774089813232,
1.7782223224639893,
1.7833431959152222,
1.789321780204773,
51,
51,
7.58759880065918,
7.582459926605225,
51,
7.357489585876465,
7.33358907699585,
7.34155797958374,
7.3397955894470215,
7.34099817276001,
7.326619625091553,
7.302153587341309,
7.231295585632324,
7.236455917358398,
7.360014915466309,
7.357815265655518,
7.3222551345825195,
7.332581520080566,
7.238046646118164,
7.00276517868042,
6.980839729309082,
6.962321758270264,
6.967485427856445,
51,
51,
51,
6.868131160736084,
6.873291969299316,
51,
51,
6.742231845855713,
6.747385501861572,
51,
51,
51,
51,
51,
6.586557388305664,
6.591694355010986,
51,
51,
51,
51,
51,
6.436788082122803,
6.441900730133057,
6.398055553436279,
6.40315580368042,
6.355190277099609,
6.339650630950928,
6.3447394371032715,
6.297760486602783,
6.264185428619385,
6.309321880340576,
6.234578609466553,
6.239638805389404,
6.214401721954346,
6.219447612762451,
6.152834415435791,
51,
6.118103981018066,
6.074703693389893,
6.060832977294922,
6.055823802947998,
7.937838077545166,
51,
6.043982982635498,
6.064651012420654,
6.069620609283447,
6.0648274421691895,
6.769357204437256,
6.014892101287842,
6.0335845947265625,
6.038507461547852,
6.043424606323242,
5.982625961303711,
5.979672908782959,
5.942398548126221,
5.936492443084717,
5.933518886566162,
5.929510116577148,
51,
5.890181541442871,
5.891010761260986,
51,
5.900629997253418,
5.893552303314209,
51,
5.865854740142822,
5.866550445556641,
5.798768043518066,
5.803501129150391,
5.807246208190918,
5.8254923820495605,
51,
5.834883213043213,
5.836396217346191,
51,
5.80845832824707,
5.764800548553467,
5.810310363769531,
51,
5.819513320922852,
5.778663635253906,
5.8175530433654785,
5.764248847961426,
5.764499187469482,
5.77392578125,
5.787267208099365,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
1.3095943927764893,
1.3089178800582886,
1.313109040260315,
1.3256449699401855,
5.7865424156188965,
51,
5.715382099151611,
51,
5.723567962646484,
1.3415552377700806,
5.71117639541626,
5.664180278778076,
5.657371520996094,
5.661363124847412,
1.3198113441467285,
1.323760986328125,
1.3345075845718384,
1.342342495918274,
5.708590507507324,
51,
1.3292962312698364,
1.32947838306427,
1.333289384841919,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
5.841269493103027,
5.844789028167725,
5.845862865447998,
5.8735432624816895,
5.880430698394775,
5.870022773742676,
5.857621192932129,
5.861011981964111,
5.912223815917969,
5.9189133644104,
5.913678169250488,
5.941693305969238,
6.009572505950928,
6.016070365905762,
6.655387878417969,
6.658593654632568,
51,
6.052206039428711,
6.029580593109131,
6.03268575668335,
6.025973320007324,
6.0608062744140625,
6.066852569580078,
6.054985523223877,
6.0579681396484375,
6.038137435913086,
6.037081718444824,
6.079590797424316,
6.115110397338867,
51,
51,
51,
6.194568157196045,
6.204066276550293,
6.206806659698486,
6.211245536804199,
6.298060417175293,
51,
51,
51,
51,
51,
51,
6.309591770172119,
6.412469387054443,
6.430825710296631,
6.417337417602539,
6.343550205230713,
6.345920562744141,
6.404340744018555,
6.40865421295166,
6.510794639587402,
1.5644595623016357,
6.552670478820801,
6.5548858642578125,
1.5417633056640625,
1.5439146757125854,
6.615508079528809,
1.5364649295806885,
1.5309978723526,
1.5316716432571411,
1.5679625272750854,
6.688754081726074,
6.769454479217529,
6.79227876663208,
6.8040690422058105,
6.819910049438477,
1.6596050262451172,
1.6592657566070557,
1.6522846221923828,
1.652638554573059,
1.653189778327942,
1.6607627868652344,
1.6749948263168335,
7.077269077301025,
7.083532810211182,
7.1576008796691895,
7.150191783905029,
7.182237148284912,
7.282109260559082,
7.283597469329834,
7.325464248657227,
7.35028600692749,
7.37066125869751,
7.409362316131592,
7.434010982513428,
7.480270862579346,
7.482838153839111,
10.026992797851562,
10.029446601867676,
10.096612930297852,
10.175918579101562,
51,
10.482171058654785,
10.484325408935547,
51,
7.88349723815918,
7.883483409881592,
7.830479621887207,
51,
51,
51,
51,
51,
51,
51,
8.348880767822266,
51,
51,
8.451502799987793,
8.579689025878906,
8.60426139831543,
51,
2.117438554763794,
2.1059510707855225,
2.0913708209991455,
2.0917904376983643,
2.1079211235046387,
9.13564395904541,
9.135971069335938,
9.143279075622559,
9.225833892822266,
51,
51,
51,
51,
51,
51,
51,
9.765534400939941,
9.765548706054688,
9.846518516540527,
51,
51,
51,
51,
51,
3.7068727016448975,
3.708388090133667,
3.6828513145446777,
3.6915526390075684,
51,
2.6799614429473877,
2.661813497543335,
2.6643903255462646,
2.6884589195251465,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
3.395695924758911,
3.3936169147491455,
3.3875856399536133,
51,
51,
51,
51,
51,
51,
51,
51,
51,
4.0553765296936035,
4.0585479736328125,
51,
51,
6.517114639282227,
6.482160568237305,
6.480624198913574,
51,
51,
51,
4.843606472015381,
4.849887847900391,
4.897927284240723,
51,
51,
51,
51,
51,
51,
51,
51,
51,
6.391660213470459,
6.301965236663818,
51,
51,
51,
51,
51,
7.772465229034424,
7.770261287689209,
51,
51,
51,
51,
9.305354118347168,
9.30300235748291,
51,
10.787839889526367,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
3.414935350418091,
3.4167277812957764,
3.423380136489868,
3.4242360591888428,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
9.567161560058594,
9.563624382019043,
51,
51,
51,
51,
51,
51,
51,
51,
51,
6.577721118927002,
6.57395601272583,
12.810128211975098,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
9.8138427734375,
9.809826850891113,
51,
51,
51,
51,
13.128950119018555,
51,
51,
51,
51,
51,
51,
51,
3.6790239810943604,
3.6633431911468506,
3.6704699993133545,
6.915855884552002,
6.9201765060424805,
51,
6.97741174697876,
6.9730401039123535,
10.276580810546875,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
10.872480392456055,
10.867813110351562,
51,
51,
51,
51,
51,
7.574738025665283,
7.569980621337891,
51,
51,
51,
51,
51,
51,
51,
18.754558563232422,
51,
51,
51,
51,
51,
15.562893867492676,
51,
4.352962017059326,
4.347066879272461,
4.338144779205322,
51,
51,
51,
12.325390815734863,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
17.319137573242188,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
5.222837924957275,
5.227968692779541,
51,
5.25559663772583,
5.250456809997559,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
11.335108757019043,
51,
51,
51,
6.345804214477539,
6.340644359588623,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
7.336775779724121,
7.331690311431885,
51,
51,
51,
51,
8.748543739318848,
8.780189514160156,
51,
51,
51,
51,
51,
51,
1.3270580768585205,
1.3280456066131592,
51,
1.323724389076233,
1.3286988735198975,
1.339963674545288,
51,
51,
51,
51,
51,
12.414925575256348,
51,
51,
51,
51,
51,
51,
6.765463352203369,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
2.6320536136627197,
2.631391763687134,
2.6282544136047363,
2.632923126220703,
51,
51,
51,
51,
51,
51,
3.944031000137329,
3.9419028759002686,
1.7880222797393799,
1.7126749753952026,
4.044714450836182,
1.7712633609771729,
1.7719800472259521,
5.282500743865967,
5.307059288024902,
1.6419638395309448,
51,
1.6006397008895874,
1.6050410270690918,
9.29715633392334,
51,
51,
51,
1.6802599430084229,
6.598996639251709,
51,
1.6580342054367065,
1.6544700860977173,
6.597950458526611,
1.6480783224105835,
1.659277081489563,
1.6606236696243286,
6.659654140472412,
1.6576060056686401,
1.6637474298477173,
1.6866244077682495,
1.6948176622390747,
1.7374812364578247,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
6.717912673950195,
6.659219264984131,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
15.142635345458984,
15.104198455810547,
15.03275203704834,
14.841811180114746,
14.778299331665039,
14.608224868774414,
14.566642761230469,
14.478055000305176,
14.326807975769043,
14.271146774291992,
14.140768051147461,
14.060050010681152,
14.00430679321289,
13.870759963989258,
13.78495979309082,
13.658285140991211,
13.62141227722168,
13.498612403869629,
13.434679985046387,
13.380725860595703,
13.27175521850586,
13.218738555908203,
13.075648307800293,
13.035566329956055,
12.910346984863281,
12.879201889038086,
12.82603931427002,
12.717650413513184,
12.666424751281738,
12.597908020019531,
12.517621994018555,
12.435981750488281,
12.375631332397461,
12.288867950439453,
12.245452880859375,
12.226017951965332,
12.12908935546875,
12.085593223571777,
11.99153995513916,
11.939982414245605,
11.88980484008789,
11.881184577941895,
11.762886047363281,
11.739204406738281,
11.661782264709473,
11.649040222167969,
11.557493209838867,
11.517690658569336,
11.46202278137207,
11.420159339904785,
11.321370124816895,
11.30944538116455,
11.27750015258789,
11.229548454284668,
11.186543464660645,
11.125472068786621,
11.095404624938965,
11.05421257019043,
11.036086082458496,
10.984773635864258,
10.933588027954102,
10.875155448913574,
10.85490894317627,
10.820357322692871,
10.76705265045166,
10.724380493164062,
10.695015907287598,
10.648223876953125,
10.634800910949707,
10.58889102935791,
10.561408996582031,
10.528380393981934,
10.505836486816406,
10.440695762634277,
10.416092872619629,
10.383831977844238,
10.348173141479492,
10.307795524597168,
10.290334701538086,
10.267577171325684,
10.219006538391113,
10.216187477111816,
10.166500091552734,
10.153624534606934,
10.09682559967041,
10.093890190124512,
3.5290699005126953,
3.4952244758605957,
3.4931745529174805,
3.466202974319458,
3.448137044906616,
3.4339981079101562,
3.434858798980713,
3.4395129680633545,
3.4391398429870605,
3.4476404190063477,
3.494778633117676,
3.5064079761505127,
3.4555580615997314,
3.419175863265991,
3.4071290493011475,
3.393423318862915,
3.3905513286590576,
3.390082836151123,
3.4009664058685303,
3.402428150177002,
3.4478023052215576,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
51,
8.415200233459473,
8.432073593139648,
8.393989562988281,
8.384899139404297,
8.380638122558594,
8.382471084594727,
8.361339569091797,
8.362921714782715,
8.363433837890625,
8.35718059539795,
8.323675155639648,
8.319025993347168,
8.328642845153809,
8.309926986694336,
8.307523727416992,
8.291145324707031,
8.28027057647705,
8.2733154296875,
8.287755966186523,
8.264747619628906,
8.256210327148438,
8.251043319702148,
8.246441841125488,
8.2401762008667,
8.236520767211914,
8.233844757080078,
8.232425689697266,
8.225958824157715,
8.208255767822266,
8.20467758178711,
8.212823867797852,
8.231907844543457,
8.232176780700684,
8.229299545288086,
8.236438751220703,
8.225587844848633,
8.220636367797852,
8.208693504333496,
8.22658920288086
],
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 69950222,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.14095
}
},
"frame_id": "base_link",
"seq": 6021,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.141033
}
},
"intensities": [],
"time_increment": 0,
"_ros_meta": {
"type": "sensor_msgs/LaserScan",
"time": 1620746289.141146
}
},
"battery": {
"header": {
"stamp": {
"secs": 0,
"nsecs": 0,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.141265
}
},
"frame_id": "",
"seq": 19019,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.141306
}
},
"_connection_header": {
"message_definition": "Header header\nBatteryData[] battery_data\n\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n\n================================================================================\nMSG: thorvald_base/BatteryData\nint16 battery_id\nint16 battery_state\nfloat64[] temperatures\nBatteryAlarms battery_alarms\nbool charge_fet_on\nbool discharge_fet_on\nfloat64 battery_voltage\nfloat64 battery_current\nint16 state_of_charge\nint16 state_of_health\nint16 cycle_count\nint16 battery_capacity\n\nint16 STATUS_OFFLINE = -99\nint16 STATUS_ONLINE = -98\n\n================================================================================\nMSG: thorvald_base/BatteryAlarms\nbool over_voltage_protection\nbool under_voltage_protection\nbool over_temperature_protection\nbool under_temperature_protection\nbool over_charge_current\nbool over_discharge_current\nbool can_communication_fail\nbool cell_voltage_sensing_fault\nbool bms_fail\nbool short_circuit_discharge\nbool temperature_sensing_fault\nbool over_voltage_fault\nbool under_voltage_fault\nbool pack_voltage_sensing_fault\n",
"callerid": "/base_driver",
"latching": "0",
"md5sum": "4ef6260173e30bddb64aa787d18305c4",
"topic": "/battery_data",
"type": "thorvald_base/BatteryArray"
},
"battery_data": [
{
"discharge_fet_on": false,
"state_of_charge": -99,
"battery_state": 0,
"battery_current": 0,
"battery_voltage": 0,
"state_of_health": 0,
"battery_capacity": 0,
"battery_id": 1,
"temperatures": [
0,
0,
0,
0,
0,
0,
0
],
"battery_alarms": {
"temperature_sensing_fault": false,
"bms_fail": false,
"over_temperature_protection": false,
"pack_voltage_sensing_fault": false,
"cell_voltage_sensing_fault": false,
"under_voltage_protection": false,
"over_voltage_fault": false,
"under_temperature_protection": false,
"can_communication_fail": false,
"over_discharge_current": false,
"over_charge_current": false,
"under_voltage_fault": false,
"short_circuit_discharge": false,
"over_voltage_protection": false,
"_ros_meta": {
"type": "thorvald_base/BatteryAlarms",
"time": 1620746289.142012
}
},
"charge_fet_on": false,
"cycle_count": 0,
"_ros_meta": {
"type": "thorvald_base/BatteryData",
"time": 1620746289.142079
}
}
],
"_ros_meta": {
"type": "thorvald_base/BatteryArray",
"time": 1620746289.14219
}
},
"tf_static": {
"_connection_header": {
"message_definition": "geometry_msgs/TransformStamped[] transforms\n\n================================================================================\nMSG: geometry_msgs/TransformStamped\n# This expresses a transform from coordinate frame header.frame_id\n# to the coordinate frame child_frame_id\n#\n# This message is mostly used by the \n# <a href=\"http://wiki.ros.org/tf\">tf</a> package. \n# See its documentation for more information.\n\nHeader header\nstring child_frame_id # the frame id of the child frame\nTransform transform\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n\n================================================================================\nMSG: geometry_msgs/Transform\n# This represents the transform between two coordinate frames in free space.\n\nVector3 translation\nQuaternion rotation\n\n================================================================================\nMSG: geometry_msgs/Vector3\n# This represents a vector in free space. \n# It is only meant to represent a direction. Therefore, it does not\n# make sense to apply a translation to it (e.g., when applying a \n# generic rigid transformation to a Vector3, tf2 will only apply the\n# rotation). If you want your data to be translatable too, use the\n# geometry_msgs/Point message instead.\n\nfloat64 x\nfloat64 y\nfloat64 z\n================================================================================\nMSG: geometry_msgs/Quaternion\n# This represents an orientation in free space in quaternion form.\n\nfloat64 x\nfloat64 y\nfloat64 z\nfloat64 w\n",
"callerid": "/camera/realsense2_camera_manager",
"latching": "1",
"md5sum": "94810edda583a504dfda3829e70d7eec",
"topic": "/tf_static",
"type": "tf2_msgs/TFMessage"
},
"transforms": [
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 898346943,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.142349
}
},
"frame_id": "camera1_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.142391
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.142491
}
},
"rotation": {
"y": 0,
"x": 0,
"z": 0,
"w": 1,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.142586
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.142609
}
},
"child_frame_id": "camera1_depth_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.142638
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 898346943,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.142738
}
},
"frame_id": "camera1_depth_frame",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.142783
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.142888
}
},
"rotation": {
"y": 0.4999999999999999,
"x": -0.5,
"z": -0.5,
"w": 0.5000000000000001,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.142992
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.143027
}
},
"child_frame_id": "camera1_depth_optical_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.14306
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 898346943,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.14318
}
},
"frame_id": "camera1_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.143224
}
},
"transform": {
"translation": {
"y": 0.014976252801716328,
"x": 0.0005458549130707979,
"z": 0.00008475758659187704,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.14333
}
},
"rotation": {
"y": 0.0012856961693614721,
"x": -0.0024383505806326866,
"z": -0.0007336754933930933,
"w": 0.9999959468841553,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.143653
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.143686
}
},
"child_frame_id": "camera1_color_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.143724
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 898346943,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.143897
}
},
"frame_id": "camera1_aligned_depth_to_color_frame",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.143938
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.144043
}
},
"rotation": {
"y": 0.4999999999999999,
"x": -0.5,
"z": -0.5,
"w": 0.5000000000000001,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.144184
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.14422
}
},
"child_frame_id": "camera1_color_optical_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.144261
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 898346943,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.144374
}
},
"frame_id": "camera1_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.144422
}
},
"transform": {
"translation": {
"y": 0.014976252801716328,
"x": 0.0005458549130707979,
"z": 0.00008475758659187704,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.144569
}
},
"rotation": {
"y": 0.0012856961693614721,
"x": -0.0024383505806326866,
"z": -0.0007336754933930933,
"w": 0.9999959468841553,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.144716
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.144739
}
},
"child_frame_id": "camera1_aligned_depth_to_color_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.144768
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.144912
}
},
"frame_id": "camera2_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.144958
}
},
"transform": {
"translation": {
"y": -0.005520000122487545,
"x": -0.011739999987185001,
"z": 0.005100000184029341,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.145095
}
},
"rotation": {
"y": 0,
"x": 0,
"z": 0,
"w": 1,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.145197
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.145222
}
},
"child_frame_id": "camera_gyro_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.145247
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.145357
}
},
"frame_id": "camera_gyro_frame",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.145401
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.145508
}
},
"rotation": {
"y": 0.4999999999999999,
"x": -0.5,
"z": -0.5,
"w": 0.5000000000000001,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.145606
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.145645
}
},
"child_frame_id": "camera_gyro_optical_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.145671
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.145782
}
},
"frame_id": "camera2_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.145828
}
},
"transform": {
"translation": {
"y": -0.005520000122487545,
"x": -0.011739999987185001,
"z": 0.005100000184029341,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.145925
}
},
"rotation": {
"y": 0,
"x": 0,
"z": 0,
"w": 1,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.146022
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.146045
}
},
"child_frame_id": "camera_accel_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.146074
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.146182
}
},
"frame_id": "camera_accel_frame",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.146228
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.146333
}
},
"rotation": {
"y": 0.4999999999999999,
"x": -0.5,
"z": -0.5,
"w": 0.5000000000000001,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.146426
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.146447
}
},
"child_frame_id": "camera_accel_optical_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.146471
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.146577
}
},
"frame_id": "camera2_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.146615
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.146715
}
},
"rotation": {
"y": 0,
"x": 0,
"z": 0,
"w": 1,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.146818
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.146842
}
},
"child_frame_id": "camera2_depth_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.146867
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.146977
}
},
"frame_id": "camera2_depth_frame",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.147016
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.147115
}
},
"rotation": {
"y": 0.4999999999999999,
"x": -0.5,
"z": -0.5,
"w": 0.5000000000000001,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.147217
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.147243
}
},
"child_frame_id": "camera2_depth_optical_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.147268
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.147375
}
},
"frame_id": "camera2_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.147418
}
},
"transform": {
"translation": {
"y": 0.014992965385317802,
"x": 0.0005599894793704152,
"z": 0.00012825103476643562,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.147508
}
},
"rotation": {
"y": -0.000614286691416055,
"x": 0.0037067141383886337,
"z": 0.0006207594997249544,
"w": 0.9999927282333374,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.147816
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.147847
}
},
"child_frame_id": "camera2_color_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.147871
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.152802
}
},
"frame_id": "camera2_aligned_depth_to_color_frame",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.152859
}
},
"transform": {
"translation": {
"y": 0,
"x": 0,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.153021
}
},
"rotation": {
"y": 0.4999999999999999,
"x": -0.5,
"z": -0.5,
"w": 0.5000000000000001,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.153145
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.153172
}
},
"child_frame_id": "camera2_color_optical_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.153202
}
},
{
"header": {
"stamp": {
"secs": 1620746076,
"nsecs": 919473773,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.153338
}
},
"frame_id": "camera2_link",
"seq": 0,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.153391
}
},
"transform": {
"translation": {
"y": 0.014992965385317802,
"x": 0.0005599894793704152,
"z": 0.00012825103476643562,
"_ros_meta": {
"type": "geometry_msgs/Vector3",
"time": 1620746289.155178
}
},
"rotation": {
"y": -0.000614286691416055,
"x": 0.0037067141383886337,
"z": 0.0006207594997249544,
"w": 0.9999927282333374,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.155293
}
},
"_ros_meta": {
"type": "geometry_msgs/Transform",
"time": 1620746289.155317
}
},
"child_frame_id": "camera2_aligned_depth_to_color_frame",
"_ros_meta": {
"type": "geometry_msgs/TransformStamped",
"time": 1620746289.155342
}
}
],
"_ros_meta": {
"type": "tf2_msgs/TFMessage",
"time": 1620746289.155389
}
},
"pose": {
"position": {
"y": -11.998785175361885,
"x": 13.837197108473637,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Point",
"time": 1620746289.155494
}
},
"_connection_header": {
"message_definition": "# A representation of pose in free space, composed of position and orientation. \nPoint position\nQuaternion orientation\n\n================================================================================\nMSG: geometry_msgs/Point\n# This contains the position of a point in free space\nfloat64 x\nfloat64 y\nfloat64 z\n\n================================================================================\nMSG: geometry_msgs/Quaternion\n# This represents an orientation in free space in quaternion form.\n\nfloat64 x\nfloat64 y\nfloat64 z\nfloat64 w\n",
"callerid": "/robot_pose_publisher",
"latching": "0",
"md5sum": "e45d45a5a1ce597b249e23fb30fc871f",
"topic": "/robot_pose",
"type": "geometry_msgs/Pose"
},
"orientation": {
"y": 0,
"x": 0,
"z": -0.6488899015902694,
"w": 0.7608823139054885,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.155581
}
},
"_ros_meta": {
"type": "geometry_msgs/Pose",
"time": 1620746289.155602
}
},
"current_edge": {
"_connection_header": {
"message_definition": "string data\n",
"callerid": "/topological_navigation",
"latching": "0",
"md5sum": "992ce8a1687cec8c8bd883ec73ca41d1",
"topic": "/current_edge",
"type": "std_msgs/String"
},
"data": "none",
"_ros_meta": {
"type": "std_msgs/String",
"time": 1620746289.155646
}
},
"current_node": {
"_connection_header": {
"message_definition": "string data\n",
"callerid": "/topological_localisation",
"latching": "1",
"md5sum": "992ce8a1687cec8c8bd883ec73ca41d1",
"topic": "/current_node",
"type": "std_msgs/String"
},
"data": "t0-r4-c0",
"_ros_meta": {
"type": "std_msgs/String",
"time": 1620746289.155688
}
},
"amcl": {
"pose": {
"header": {
"stamp": {
"secs": 1620746288,
"nsecs": 450066167,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.155823
}
},
"frame_id": "map",
"seq": 202,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.155861
}
},
"pose": {
"pose": {
"position": {
"y": -11.988453707226407,
"x": 13.835248826386334,
"z": 0,
"_ros_meta": {
"type": "geometry_msgs/Point",
"time": 1620746289.155963
}
},
"orientation": {
"y": 0,
"x": 0,
"z": -0.648982424443155,
"w": 0.7608033995480596,
"_ros_meta": {
"type": "geometry_msgs/Quaternion",
"time": 1620746289.156051
}
},
"_ros_meta": {
"type": "geometry_msgs/Pose",
"time": 1620746289.156072
}
},
"covariance": [
0.006449135468045597,
0.0008282562733370469,
0,
0,
0,
0,
0.0008282562733370469,
0.008481115619218826,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0.006860008559654963
],
"_ros_meta": {
"type": "geometry_msgs/PoseWithCovariance",
"time": 1620746289.156798
}
},
"_ros_meta": {
"type": "geometry_msgs/PoseWithCovarianceStamped",
"time": 1620746289.156833
},
"_connection_header": {
"message_definition": "# This expresses an estimated pose with a reference coordinate frame and timestamp\n\nHeader header\nPoseWithCovariance pose\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n\n================================================================================\nMSG: geometry_msgs/PoseWithCovariance\n# This represents a pose in free space with uncertainty.\n\nPose pose\n\n# Row-major representation of the 6x6 covariance matrix\n# The orientation parameters use a fixed-axis representation.\n# In order, the parameters are:\n# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)\nfloat64[36] covariance\n\n================================================================================\nMSG: geometry_msgs/Pose\n# A representation of pose in free space, composed of position and orientation. \nPoint position\nQuaternion orientation\n\n================================================================================\nMSG: geometry_msgs/Point\n# This contains the position of a point in free space\nfloat64 x\nfloat64 y\nfloat64 z\n\n================================================================================\nMSG: geometry_msgs/Quaternion\n# This represents an orientation in free space in quaternion form.\n\nfloat64 x\nfloat64 y\nfloat64 z\nfloat64 w\n",
"callerid": "/mel_amcl",
"latching": "1",
"md5sum": "953b798c0f514ff060a53a3498ce6246",
"topic": "/amcl_pose",
"type": "geometry_msgs/PoseWithCovarianceStamped"
}
},
"quality": {
"_connection_header": {
"message_definition": "float64 data\n",
"callerid": "/mel_amcl",
"latching": "1",
"md5sum": "fdb28210bfa9d7c91146260178d9a584",
"topic": "/amcl_quality",
"type": "std_msgs/Float64"
},
"data": 11.000557964846546,
"_ros_meta": {
"type": "std_msgs/Float64",
"time": 1620746289.156902
}
}
},
"closest_node": {
"_connection_header": {
"message_definition": "string data\n",
"callerid": "/topological_localisation",
"latching": "1",
"md5sum": "992ce8a1687cec8c8bd883ec73ca41d1",
"topic": "/closest_node",
"type": "std_msgs/String"
},
"data": "t0-r4-c0",
"_ros_meta": {
"type": "std_msgs/String",
"time": 1620746289.156962
}
},
"gps": {
"status": {
"status": 2,
"service": 0,
"_ros_meta": {
"type": "sensor_msgs/NavSatStatus",
"time": 1620746289.157061
}
},
"_connection_header": {
"message_definition": "# Navigation Satellite fix for any Global Navigation Satellite System\n#\n# Specified using the WGS 84 reference ellipsoid\n\n# header.stamp specifies the ROS time for this measurement (the\n# corresponding satellite time may be reported using the\n# sensor_msgs/TimeReference message).\n#\n# header.frame_id is the frame of reference reported by the satellite\n# receiver, usually the location of the antenna. This is a\n# Euclidean frame relative to the vehicle, not a reference\n# ellipsoid.\nHeader header\n\n# satellite fix status information\nNavSatStatus status\n\n# Latitude [degrees]. Positive is north of equator; negative is south.\nfloat64 latitude\n\n# Longitude [degrees]. Positive is east of prime meridian; negative is west.\nfloat64 longitude\n\n# Altitude [m]. Positive is above the WGS 84 ellipsoid\n# (quiet NaN if no altitude is available).\nfloat64 altitude\n\n# Position covariance [m^2] defined relative to a tangential plane\n# through the reported position. The components are East, North, and\n# Up (ENU), in row-major order.\n#\n# Beware: this coordinate system exhibits singularities at the poles.\n\nfloat64[9] position_covariance\n\n# If the covariance of the fix is known, fill it in completely. If the\n# GPS receiver provides the variance of each measurement, put them\n# along the diagonal. If only Dilution of Precision is available,\n# estimate an approximate covariance from that.\n\nuint8 COVARIANCE_TYPE_UNKNOWN = 0\nuint8 COVARIANCE_TYPE_APPROXIMATED = 1\nuint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2\nuint8 COVARIANCE_TYPE_KNOWN = 3\n\nuint8 position_covariance_type\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\nstring frame_id\n\n================================================================================\nMSG: sensor_msgs/NavSatStatus\n# Navigation Satellite fix status for any Global Navigation Satellite System\n\n# Whether to output an augmented fix is determined by both the fix\n# type and the last time differential corrections were received. A\n# fix is valid when status >= STATUS_FIX.\n\nint8 STATUS_NO_FIX = -1 # unable to fix position\nint8 STATUS_FIX = 0 # unaugmented fix\nint8 STATUS_SBAS_FIX = 1 # with satellite-based augmentation\nint8 STATUS_GBAS_FIX = 2 # with ground-based augmentation\n\nint8 status\n\n# Bits defining which Global Navigation Satellite System signals were\n# used by the receiver.\n\nuint16 SERVICE_GPS = 1\nuint16 SERVICE_GLONASS = 2\nuint16 SERVICE_COMPASS = 4 # includes BeiDou.\nuint16 SERVICE_GALILEO = 8\n\nuint16 service\n",
"callerid": "/navsat_transform_node",
"latching": "0",
"md5sum": "2d3a8cd499b9b4a0249fb98fd05cfa48",
"topic": "/gps/filtered",
"type": "sensor_msgs/NavSatFix"
},
"altitude": 0,
"longitude": -0.5243025173958529,
"position_covariance": [
0.008668869533784441,
6.404352234081964e-10,
0,
6.404352234624065e-10,
0.008805533870316733,
0,
0,
0,
9.80907605934074e-7
],
"header": {
"stamp": {
"secs": 1620746289,
"nsecs": 6675720,
"_ros_meta": {
"type": "genpy.Time",
"time": 1620746289.157355
}
},
"frame_id": "base_link",
"seq": 2038,
"_ros_meta": {
"type": "std_msgs/Header",
"time": 1620746289.157402
}
},
"position_covariance_type": 3,
"latitude": 53.26853414547089,
"_ros_meta": {
"type": "sensor_msgs/NavSatFix",
"time": 1620746289.157455
}
}
}
}