pose

Description

Provides position, orientation, linear velocity, angular velocity, and linear acceleration for the rigid body of a vehicle.

Field	datatype	Description
utime	string	utime that the actual measurement took place
pos	[double]	position (x,y,z) in meters in local frame
quat	[double]	quaternion which rotates a vector from body to local frame
vel	[double]	velocity in m/s, expressed in body frame
avel	[double]	angular velocity about (x,y,z) in rad/s in body frame
acc	[double]	acceleration in m/s^2 in body frame
vehicle	string	unique vehicle name the data is associated to.
topic	string	type of telemetry data

Local frame: when a shift starts, the current position of the car is dictated as (0, 0, 0). As we start moving, our position relative to this origin is our position in the local frame Global frame: relates to where we are in reference to the world. Body frame is with respect to the rear axle of the vehicle

Topic/channel string

For Realtime API

Pass the comma seperated topic name as a query param

/.vehicle.{vehiclename}.POSE

For Batch API

To access the Batch API, you need to include the vehicle name and topic name as path parameters in the URL.

/vehicles/{vehiclename}/topics/POSE

JSON Output

Order of fields might differ

{
    "acc": [
        -0.0043220240622758865,
        -0.0,
        9.824821472167969
    ],
    "avel": [
        0.0005888862069696188,
        0.00013308988127391783,
        0.0
    ],
    "pos": [
        -4052.685791015625,
        -5623.0927734375,
        -14.119114875793455
    ],
    "quat": [
        -0.9030252695083618,
        -0.0010318123968318105,
        0.01629677601158619,
        -0.4292769432067871
    ],
    "topic": "POSE",
    "utime": "1683642288801633",
    "vehicle": "vehiclename",
    "vel": [
        -0.00006605481030419469,
        0.0,
        0.0
    ]
}