Users Manual

message Frame
{
optional PoseStamped pose = 1;
optional string parent = 2; // Name of the parent frame
optional string name = 3; // Name of the frame
optional string producer = 4; // Name of the producer of this data
}
The producer field can take the values ins, slam, rt
_
ins, and rt
_
slam, indicating whether the data
was computed by SLAM or Stereo INS, and is real-time (rt) or not.
• The real-time dynamics stream (Section 6.3.2) is serialized using the Dynamics message type:
message Dynamics
{
optional Time timestamp = 1; // Time when the data was
˓→captured
optional Pose pose = 2;
optional string pose
_
frame = 3; // Name of the frame that
˓→the pose is given in
optional Vector3d linear
_
velocity = 4; // Linear velocity in m/s
optional string linear
_
velocity
_
frame = 5; // Name of the frame that
˓→the linear
_
velocity is given in
optional Vector3d angular
_
velocity = 6; // Angular velocity in rad/s
optional string angular
_
velocity
_
frame = 7; // Name of the frame that
˓→the angular
_
velocity is given in
optional Vector3d linear
_
acceleration = 8; // Gravity compensated
˓→linear acceleration in m/s
2
optional string linear
_
acceleration
_
frame = 9; // Name of the frame that
˓→the acceleration is given in
repeated double covariance = 10 [packed=true]; // Row-major
˓→representation of the 15x15 covariance matrix
optional Frame cam2imu
_
transform = 11; // pose of the left camera
˓→wrt. the IMU frame
optional bool possible
_
jump = 12; // True if there possibly
˓→was a jump in the pose estimation
optional string producer = 13; // Name of the producer of
˓→this data
}
The producer field can take the values rt
_
ins and rt
_
slam, indicating whether the data was com-
puted by SLAM or Stereo INS.
• The IMU stream (Section 6.3.2) is serialized using the Imu message type:
message Imu
{
optional Time timestamp = 1; // Time when the data was
˓→captured
optional Vector3d linear
_
acceleration = 2; // Linear acceleration in m/
˓→s
2
measured by the IMU
optional Vector3d angular
_
velocity = 3; // Angular velocity in rad/
˓→s measured by the IMU
}
• The nested types PoseStamped, Pose, Time, Quaternion, and Vector3D are defined as follows:
message PoseStamped
{
optional Time timestamp = 1; // Time when the data was captured
optional Pose pose = 2;
}
8.3. The rc_dynamics interface 163