Odometry
An estimate of position, orientation, and velocity for an object or reference frame in 3D space
Schema
| field | type | description |
|---|---|---|
timestamp | Timestamp | Timestamp of the message |
frame_id | string | Reference coordinate frame (e.g. map or odom) |
body_frame_id | string | Coordinate frame of the body whose motion is being estimated (e.g. base_link) |
pose | Pose | Position and orientation of body_frame_id in frame_id |
linear_velocity (optional) | Vector3 | Linear velocity in m/s in body_frame_id |
angular_velocity (optional) | Vector3 | Angular velocity in rad/s in body_frame_id |
pose_covariance (optional) | float64[36] | Row-major 6x6 covariance matrix (x, y, z, rotation about x, rotation about y, rotation about z). Set to zero if unknown. |
velocity_covariance (optional) | float64[36] | Row-major 6x6 covariance matrix (vx, vy, vz, angular rate about x, angular rate about y, angular rate about z). Set to zero if unknown. |
metadata (optional) | KeyValuePair[] | Additional user-provided metadata associated with the odometry message. Keys must be unique. |
Reference implementations
Foxglove messages are framework-agnostic, and can be implemented using any supported message encoding:
| encoding | schema |
|---|---|
| ROS 1 | foxglove_msgs/Odometry |
| ROS 2 | foxglove_msgs/msg/Odometry |
| JSON | foxglove.Odometry |
| Protobuf | foxglove.Odometry |
| FlatBuffers | foxglove.Odometry |
| OMG IDL | foxglove::Odometry |
You must use the schema names specified above for Foxglove to recognize the schema.