Custom Messages Ref

Messages are how data is sent between nodes. If you want to publish or subscribe to a custom data format, you will need to create a custom message. This page is a reference to show the data structure and names for all custom messages we create. I have made an example message called coord; I will demonstrate the structure of this page below. If you create a new message, just match the format and document it here.

A reference for the .msg format can be found here.

We will be following a naming convention of general -> specific. For example, GPS information will have several custom messages. Some examples could be:

sensor_gps_raw, sensor_gps_vel, sensor_gps_pos. A different sensor could be: sensor_imu_raw, etc.

coord.msg

Data Type	Name
int32	x
int32	y
int32	z

gps.msg

Data Type	Name
float64	latitude
float64	longitude
float64	altitude
float64	accuracy
float64	speed
float64	speed_accuracy

• Note on accuracy: Accuracy is measured by error range, units is meters.

accelerometer.msg

Data Type	Name
string	type
float64	x
float64	y
float64	z

type is the type of imu data, there are two types

Name	Description
imu	Standard unprocessed imu data, includes gravity
user_imu	imu data that has been processed, no gravity