FixPosition Vision-RTK 2 - TF Output; Fp_A-Tf

7.4. TF output
7.4.1. FP_A-TF
This message contains the transformation (translation in Cartesian coordinates and rota-
tion as a quaternion) from frame A to B.
Example messages:
1 $FP ,TF ,2 ,22 33 ,315835.00000 0 , VRTK , CAM , -0.00000 , -0.00000 , -0.00000 ,1.000000 ,
0.0000 00 , 0.000000 ,0 .000000*6 B \r \n
1 $FP ,TF ,2 ,22 33 ,315835.00000 0 , POI , VRTK , -0.99301 , -2.01395 , -2.99298 ,0.999995 ,
-0.002616 , -0.0 01748 , -0.000868*52\ r\ n
Message fields:
# Field Format Unit Example Description
1 msg_type String - TF
Message type, always TF for this
message
2 msg_version Numeric - 2
Message version, always 2 for
this version of the TF message
3 gps_week Numeric - 2233
GPS week number, range
0–9999
4 gps_tow Float (.6) s 315835.000000
GPS time of week, range
0.000–604799.999999
5 frame_a String - POI
Target frame (maximum 8 char-
acters: A-Z and 0-9)
6 frame_b String - VRTK
Initial frame (maximum 8 char-
acters: A-Z and 0-9)
7 translation_x Float (.5) m -0.99301 Translation, X component
8 translation_y Float (.5) m -2.01395 Translation, Y component
9 translation_z Float (.5) m -2.99298 Translation, Z component
10 orientation_w Float (.6) - 0.999995
Rotation in quaternion, W com-
ponent
11 orientation_x Float (.6) - -0.002616
Rotation in quaternion, X com-
ponent
12 orientation_y Float (.6) - -0.001748
Rotation in quaternion, Y com-
ponent
13 orientation_z Float (.6) - -0.000868
Rotation in quaternion, Z com-
ponent
Table 7.14.: FP_A-TF message format
Vision-RTK 2 | Fixposition Positioning Sensor 61