Added GeoPoseWithCovariance and GeoPoseWithCovarianceStamped messages (#51)

Author: chriswsuarez

geographic_msgs/CMakeLists.txt

@@ -25,6 +25,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/GeoPointStamped.msg"
   "msg/GeoPose.msg"
   "msg/GeoPoseStamped.msg"
+  "msg/GeoPoseWithCovariance.msg"
+  "msg/GeoPoseWithCovarianceStamped.msg"
   "msg/KeyValue.msg"
   "msg/MapFeature.msg"
   "msg/RouteNetwork.msg"

geographic_msgs/msg/GeoPoseWithCovariance.msg

@@ -0,0 +1,12 @@
+# Geographic pose, using the WGS 84 reference ellipsoid.
+#
+# Orientation uses the East-North-Up (ENU) frame of reference.
+# (But, what about singularities at the poles?)
+
+GeoPose pose
+
+# Row-major representation of the 6x6 covariance matrix
+# The orientation parameters use a fixed-axis representation.
+# In order, the parameters are:
+# (Lat, Lon, Alt, rotation about E (East) axis, rotation about N (North) axis, rotation about U (Up) axis)
+float64[36] covariance

geographic_msgs/msg/GeoPoseWithCovarianceStamped.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+geographic_msgs/GeoPoseWithCovariance pose