autoware_sensing_msgs

GNSS/INS sensor messages

Possible Data Types:

• Position
• Orientation
• Twist (Velocity)
  • linear
  • angular
• Accel
  • linear
  • angular

Position

For this information, you can use the NavSatFix message.

If the sensor provides MSL(Mean Sea Level) for altitude, you can use it for the altitude field.

• sensor_msgs/NavSatFix following fields are used:
  • std_msgs/Header header
  • float64 latitude
  • float64 longitude
  • float64 altitude
  • float64[9] position_covariance

For detailed info about the east, north, up, see the Coordinate Axes Conventions.

Orientation

GnssInsOrientationStamped.msg

This message contains the GNSS-INS orientation information.

The orientation is represented by a quaternion.

If the sensor provides roll, pitch, yaw; you should convert it to quaternion.

• Example with tf2.

For detailed info about the roll, pitch, yaw and rotation axes see the Coordinate Axes Conventions.

Velocity

For this information, you can use the TwistWithCovarianceStamped message.

Its structure is as follows:

• geometry_msgs/TwistWithCovarianceStamped following fields are used:

  • std_msgs/Header header
  • geometry_msgs/TwistWithCovariance twist
    • geometry_msgs/Twist twist
      • geometry_msgs/Vector3 linear
      • geometry_msgs/Vector3 angular
    • float64[36] covariance
• The linear field contains the linear velocities in the x, y, z axes.
• The angular field contains the angular velocities in the x, y, z axes.
• The covariance matrix parameters are linear and angular velocities in order.

For detailed info about the covariance matrix RMSE? Variances? Covariance Matrix?.

Acceleration

For this information, you can use the AccelWithCovarianceStamped message.

Its structure is as follows:

• geometry_msgs/AccelWithCovarianceStamped following fields are used:

  • std_msgs/Header header
  • geometry_msgs/AccelWithCovariance accel
    • geometry_msgs/Accel accel
      • geometry_msgs/Vector3 linear
      • geometry_msgs/Vector3 angular
    • float64[36] covariance
• The linear field contains the linear accelerations in the x, y, z axes.
• The angular field contains the angular accelerations in the x, y, z axes.
• The covariance matrix parameters are linear and angular accelerations in order.

For detailed info about the covariance matrix RMSE? Variances? Covariance Matrix?.

Design

Coordinate Frames

Frames used in Autoware are defined as follows:

flowchart LR
    earth --> Map[map] --> base_link
    base_link --> gnss_ins
    base_link --> sensor_a
    base_link --> sensor_b

File truncated at 100 lines see the full file

Changelog for package autoware_sensing_msgs

1.9.0 (2025-06-18)

1.8.0 (2025-05-21)

• chore: fix email domain (#133)
• chore: update maintainers (#132)
• Contributors: Mete Fatih Cırıt

1.7.0 (2025-04-21)

• feat(autoware_sensing_msgs): implement the proposed universal radar messages (#120) Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> Co-authored-by: Mete Fatih Cırıt <<xmfcx@users.noreply.github.com>>
• Contributors: Kenzo Lobos Tsunekawa

1.6.0 (2025-04-07)

1.5.0 (2025-04-02)

1.4.0 (2025-02-25)

• fix(autoware_msgs): fix links to issues in CHANGELOG.rst files (#108)
• Contributors: Esteve Fernandez

1.3.0 (2024-11-25)

1.2.0 (2024-10-01)

1.1.0 (2024-05-10)

• chore: update [package.xml]{.title-ref} and fix [CMakeLists.txt]{.title-ref} (#91) update package.xml and fix cmakefiles
• feat(sensing-messages): add sensing messages (#24)
  • feat(sensing-messages): add sensing messages
• Contributors: M. Fatih Cırıt, Yutaka Kondo