60 lines
2.5 KiB
Plaintext
60 lines
2.5 KiB
Plaintext
<element name="spherical_coordinates" required="0">
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<element name="surface_model" type="string" default="EARTH_WGS84" required="1">
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<description>
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Name of planetary surface model, used to determine the surface altitude
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at a given latitude and longitude. The default is an ellipsoid model of
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the earth based on the WGS-84 standard. It is used in Gazebo's GPS sensor
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implementation.
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</description>
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</element>
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<element name="world_frame_orientation" type="string" default="ENU" required="0">
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<description>
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This field identifies how Gazebo world frame is aligned in Geographical
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sense. The final Gazebo world frame orientation is obtained by rotating
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a frame aligned with following notation by the field heading_deg (Note
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that heading_deg corresponds to positive yaw rotation in the NED frame,
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so it's inverse specifies positive Z-rotation in ENU or NWU).
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Options are:
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- ENU (East-North-Up)
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- NED (North-East-Down)
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- NWU (North-West-Up)
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For example, world frame specified by setting world_orientation="ENU"
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and heading_deg=-90° is effectively equivalent to NWU with heading of 0°.
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</description>
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</element>
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<element name="latitude_deg" type="double" default="0.0" required="1">
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<description>
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Geodetic latitude at origin of gazebo reference frame, specified
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in units of degrees.
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</description>
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</element>
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<element name="longitude_deg" type="double" default="0.0" required="1">
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<description>
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Longitude at origin of gazebo reference frame, specified in units
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of degrees.
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</description>
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</element>
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<element name="elevation" type="double" default="0.0" required="1">
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<description>
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Elevation of origin of gazebo reference frame, specified in meters.
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</description>
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</element>
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<element name="heading_deg" type="double" default="0.0" required="1">
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<description>
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Heading offset of gazebo reference frame, measured as angle between
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Gazebo world frame and the world_frame_orientation type (ENU/NED/NWU).
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Rotations about the downward-vector (e.g. North to East) are positive.
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The direction of rotation is chosen to be consistent with compass
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heading convention (e.g. 0 degrees points North and 90 degrees
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points East, positive rotation indicates counterclockwise rotation
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when viewed from top-down direction).
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The angle is specified in degrees.
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</description>
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</element>
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</element>
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