A 6-DOF pose estimate with optional covariance.

The canonical output payload for any estimator that publishes a fused pose (e.g. an AHRS, an EKF combining IMU and odometry, a visual SLAM front-end). Subscribers wanting fused poses specifically can filter on this payload type to distinguish them from waypoints (BB.Message.Geometry.Pose) or command goals.

Fields

• transform - The pose as BB.Math.Transform.t() in the frame named by the wrapping message's :frame_id.
• covariance - Optional BB.Math.Covariance6.t() over the pose's 6 DOF (translation x/y/z, rotation r/p/y). nil if the estimator does not produce a covariance.

Examples

alias BB.Message.Estimator.Pose
alias BB.Math.{Transform, Covariance6}

{:ok, msg} =
  Pose.new(:base_link,
    transform: Transform.identity(),
    covariance: Covariance6.diagonal([0.01, 0.01, 0.01, 0.001, 0.001, 0.001])
  )