Add messages

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(gnss_comm_msgs)
+
+# to make sure ccache produces colorized output.
+add_compile_options(-fdiagnostics-color=always)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  std_msgs
+)
+
+add_message_files(
+  FILES
+  GnssTimeMsg.msg
+  GnssEphemMsg.msg
+  GnssGloEphemMsg.msg
+  GnssMeasMsg.msg
+  GnssObsMsg.msg
+  GnssBestXYZMsg.msg
+  GnssPVTSolnMsg.msg
+  GnssSvsMsg.msg
+  GnssTimePulseInfoMsg.msg
+  StampedFloat64Array.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+                 std_msgs
+)

msg/GnssBestXYZMsg.msg

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+Header header
+float64[] pos
+float64[] pos_sigma
+float64[] vel
+float64[] vel_sigma
+uint32    num_svs

msg/GnssEphemMsg.msg

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+# This message contains GPS, Galileo and BeiDou ephemeris data
+
+uint32 sat
+GnssTimeMsg ttr
+GnssTimeMsg toe
+GnssTimeMsg toc
+float64 toe_tow
+uint32 week
+uint32 iode
+uint32 iodc
+uint32 health
+uint32 code
+float64 ura
+float64 A
+float64 e
+float64 i0
+float64 omg
+float64 OMG0
+float64 M0
+float64 delta_n
+float64 OMG_dot
+float64 i_dot
+float64 cuc
+float64 cus
+float64 crc
+float64 crs
+float64 cic
+float64 cis
+float64 af0
+float64 af1
+float64 af2
+float64 tgd0
+float64 tgd1
+float64 A_dot
+float64 n_dot

msg/GnssGloEphemMsg.msg

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+# This message contains GLONASS ephemeris data
+
+uint32 sat
+GnssTimeMsg ttr
+GnssTimeMsg toe
+int32  freqo
+uint32 iode
+uint32 health
+uint32 age
+float64 ura
+float64 pos_x
+float64 pos_y
+float64 pos_z
+float64 vel_x
+float64 vel_y
+float64 vel_z
+float64 acc_x
+float64 acc_y
+float64 acc_z
+float64 tau_n
+float64 gamma
+float64 delta_tau_n

msg/GnssMeasMsg.msg

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+# This message contains one-epoch measurements from multiple satellites
+
+GnssObsMsg[] meas

msg/GnssObsMsg.msg

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+# This message contains one-epoch measurements from one single satellite
+
+GnssTimeMsg time    # measurement time
+uint32 sat          # satellite ID (define by `sat_no` function in `gnss_utility.hpp`)
+float64[] freqs     # observed frequencies [Hz]
+float64[] CN0       # carrier-to-noise density ratio (signal strength) [dB-Hz]
+uint8[] LLI         # lost-lock indicator (1=lost)
+uint8[] code        # channel code
+float64[] psr       # pseudorange measurement [m]
+float64[] psr_std   # pseudorange standard deviation [m]
+float64[] cp        # carrier phase measurement [cycle]
+float64[] cp_std    # carrier phase standard deviation [cycle]
+float64[] dopp      # Doppler measurement [Hz]
+float64[] dopp_std  # Doppler standard deviation [Hz]
+# tracking status. bit_0:psr valid, bit_1:cp valid, 
+# bit_2:half cp valid, bit_3:half cp subtracted
+uint8[]   status    

msg/GnssPVTSolnMsg.msg

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+# This message contains information of UBX-NAV-PVT message. 
+# reference: [1]. UBX-18010854-R08, page 132
+
+GnssTimeMsg time    # GNSS time of the navigation epoch
+# GNSS fix type (0=no fix, 1=dead reckoning only, 2=2D-fix, 3=3D-fix, 
+# 4=GNSS+dead reckoning combined, 5=time only fix)
+uint8   fix_type
+bool    valid_fix   # if fix valid (1=valid fix)
+bool    diff_soln   # if differential correction were applied (1=applied)
+uint8   carr_soln   # carrier phase range solution status (0=no carrier phase, 1=float, 2=fix)
+uint8   num_sv      # number of satellites used in the solution
+float64 latitude    # latitude [degree]
+float64 longitude   # longitude [degree]
+float64 altitude    # height above ellipsoid [m]
+float64 height_msl  # height above mean sea level [m]
+float64 h_acc       # horizontal accuracy estimate [m]
+float64 v_acc       # vertical accuracy estimate [m]
+float64 p_dop       # Position DOP
+float64 vel_n       # NED north velocity [m/s]
+float64 vel_e       # NED east velocity [m/s]
+float64 vel_d       # NED down velocity [m/s]
+float64 vel_acc     # speed accuracy estimate [m/s]

msg/GnssSvsMsg.msg

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+Header header
+uint32[]    sat
+uint32[]    freqo
+bool[]      health
+float64[]   elev_degree
+float64[]   az_degree
+uint32[]    sig_mask

msg/GnssTimeMsg.msg

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+# This message contains GNSS time expressed in the form of 
+# GNSS week number and time of week(in seconds)
+
+uint32 week
+float64 tow

msg/GnssTimePulseInfoMsg.msg

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+# This message contains information of UBX-TIM-TP message. 
+# reference: [1]. UBX-18010854-R08, page 156
+
+GnssTimeMsg time    # GNSS time of the next time pulse
+bool utc_based      # if the time is UTC (1=UTC, 0=GNSS)
+uint32 time_sys     # GNSS time reference system, if the time base is GNSS (utc_base=0)

msg/StampedFloat64Array.msg

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+# A list of float values with timestamp
+
+Header header
+float64[] data

package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>gnss_comm_msgs</name>
+  <version>0.0.1</version>
+  <description>
+  Messages from GNSS receiver.
+  </description>
+  <maintainer email="[email protected]">Jonas Beuchert</maintainer>
+  <license>GPL-3.0</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>std_msgs</depend>
+</package>