#include <message_publisher.h>

Public Member Functions
void	initPublishers (ros::NodeHandle &ref_ros_node_handle, const ConfigStore &ref_config_store)

	MessagePublisher ()

void	publish (SbgEComClass sbg_msg_class, SbgEComMsgId sbg_msg_id, const SbgBinaryLogData &ref_sbg_log)

Private Member Functions
void	defineRosStandardPublishers (ros::NodeHandle &ref_ros_node_handle, bool odom_enable, bool enu_enable)

std::string	getOutputTopicName (SbgEComMsgId sbg_message_id) const

void	initPublisher (ros::NodeHandle &ref_ros_node_handle, SbgEComMsgId sbg_msg_id, SbgEComOutputMode output_conf, const std::string &ref_output_topic)

void	processRosImuMessage ()

void	processRosOdoMessage ()

void	processRosVelMessage ()

void	publishEkfNavigationData (const SbgBinaryLogData &ref_sbg_log)

void	publishFluidPressureData (const SbgBinaryLogData &ref_sbg_log)

void	publishGpsPosData (const SbgBinaryLogData &ref_sbg_log, SbgEComMsgId sbg_msg_id)

void	publishIMUData (const SbgBinaryLogData &ref_sbg_log)

void	publishMagData (const SbgBinaryLogData &ref_sbg_log)

void	publishUtcData (const SbgBinaryLogData &ref_sbg_log)

Private Attributes
ros::Publisher	fluid_pub_

std::string	frame_id_

ros::Publisher	imu_pub_

ros::Publisher	mag_pub_

uint32_t	max_messages_

MessageWrapper	message_wrapper_

ros::Publisher	nav_sat_fix_pub_

ros::Publisher	nmea_gga_pub_

ros::Publisher	odometry_pub_

ros::Publisher	pos_ecef_pub_

ros::Publisher	sbg_air_data_pub_

sbg_driver::SbgEkfEuler	sbg_ekf_euler_message_

sbg_driver::SbgEkfNav	sbg_ekf_nav_message_

ros::Publisher	sbg_ekf_nav_pub_

sbg_driver::SbgEkfQuat	sbg_ekf_quat_message_

ros::Publisher	sbg_ekf_quat_pub_

ros::Publisher	sbg_ekf_ruler_pub_

ros::Publisher	sbg_event_A_pub_

ros::Publisher	sbg_event_B_pub_

ros::Publisher	sbg_event_C_pub_

ros::Publisher	sbg_event_D_pub_

ros::Publisher	sbg_event_E_pub_

ros::Publisher	sbg_gps_hdt_pub_

ros::Publisher	sbg_gps_pos_pub_

ros::Publisher	sbg_gps_raw_pub_

ros::Publisher	sbg_gps_vel_pub_

ros::Publisher	sbg_imu_data_pub_

sbg_driver::SbgImuData	sbg_imu_message_

ros::Publisher	sbg_imu_short_pub_

ros::Publisher	sbg_mag_calib_pub_

ros::Publisher	sbg_mag_pub_

ros::Publisher	sbg_odo_vel_pub_

ros::Publisher	sbg_ship_motion_pub_

ros::Publisher	sbg_status_pub_

ros::Publisher	sbg_utc_time_pub_

ros::Publisher	temp_pub_

ros::Publisher	utc_reference_pub_

ros::Publisher	velocity_pub_

Detailed Description

Class to publish all SBG-ROS messages to the corresponding publishers.

Definition at line 44 of file message_publisher.h.

Constructor & Destructor Documentation

◆ MessagePublisher()

MessagePublisher::MessagePublisher ( )

Default constructor.

Class to publish all SBG-ROS messages to the corresponding publishers.

Definition at line 12 of file message_publisher.cpp.

Member Function Documentation

◆ defineRosStandardPublishers()

void MessagePublisher::defineRosStandardPublishers	(	ros::NodeHandle &	ref_ros_node_handle,
		bool	odom_enable,
		bool	enu_enable
	)

private

Define standard ROS publishers.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	odom_enable	If true, enable odometry messages.

Definition at line 203 of file message_publisher.cpp.

◆ getOutputTopicName()

std::string MessagePublisher::getOutputTopicName ( SbgEComMsgId sbg_message_id ) const

private

Get the corresponding topic name output for the SBG output mode.

Parameters

[in] sbg_message_id SBG message ID.

Returns: Output topic name.

Definition at line 21 of file message_publisher.cpp.

◆ initPublisher()

void MessagePublisher::initPublisher	(	ros::NodeHandle &	ref_ros_node_handle,
		SbgEComMsgId	sbg_msg_id,
		SbgEComOutputMode	output_conf,
		const std::string &	ref_output_topic
	)

private

Initialize the publisher for the specified SBG Id, and the output configuration.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	sbg_msg_id	Id of the SBG message.
[in]	output_conf	Output configuration.
[in]	ref_output_topic	Output topic for the publisher.

Definition at line 100 of file message_publisher.cpp.

◆ initPublishers()

void MessagePublisher::initPublishers	(	ros::NodeHandle &	ref_ros_node_handle,
		const ConfigStore &	ref_config_store
	)

Initialize the publishers for the output configuration.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	ref_config_store	Store configuration for the publishers.

Definition at line 472 of file message_publisher.cpp.

◆ processRosImuMessage()

void MessagePublisher::processRosImuMessage ( )

private

Process a ROS IMU standard message.

Definition at line 336 of file message_publisher.cpp.

◆ processRosOdoMessage()

void MessagePublisher::processRosOdoMessage ( )

private

Process a ROS odometry standard message.

Definition at line 347 of file message_publisher.cpp.

◆ processRosVelMessage()

void MessagePublisher::processRosVelMessage ( )

private

Process a ROS Velocity standard message.

Definition at line 321 of file message_publisher.cpp.

◆ publish()

void MessagePublisher::publish	(	SbgEComClass	sbg_msg_class,
		SbgEComMsgId	sbg_msg_id,
		const SbgBinaryLogData &	ref_sbg_log
	)

Publish the received SbgLog if the corresponding publisher is defined.

Parameters

[in]	sbg_msg_class	Class ID of the SBG message.
[in]	sbg_msg_id	Id of the SBG message.
[in]	ref_sbg_log	SBG binary log.

Definition at line 507 of file message_publisher.cpp.

◆ publishEkfNavigationData()

void MessagePublisher::publishEkfNavigationData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG EkfNav log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 408 of file message_publisher.cpp.

◆ publishFluidPressureData()

void MessagePublisher::publishFluidPressureData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG Fluid pressure log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 393 of file message_publisher.cpp.

◆ publishGpsPosData()

void MessagePublisher::publishGpsPosData	(	const SbgBinaryLogData &	ref_sbg_log,
		SbgEComMsgId	sbg_msg_id
	)

private

Publish a received SBG GpsPos log.

Parameters

[in]	ref_sbg_log	SBG log.
[in]	sbg_msg_id	Id of the SBG message.

Definition at line 442 of file message_publisher.cpp.

◆ publishIMUData()

void MessagePublisher::publishIMUData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG IMU log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 304 of file message_publisher.cpp.

◆ publishMagData()

void MessagePublisher::publishMagData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG Magnetic log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 378 of file message_publisher.cpp.

◆ publishUtcData()

void MessagePublisher::publishUtcData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG UTC log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 423 of file message_publisher.cpp.

Member Data Documentation

◆ fluid_pub_

ros::Publisher sbg::MessagePublisher::fluid_pub_

private

Definition at line 78 of file message_publisher.h.

◆ frame_id_

std::string sbg::MessagePublisher::frame_id_

private

Definition at line 89 of file message_publisher.h.

◆ imu_pub_

ros::Publisher sbg::MessagePublisher::imu_pub_

private

Definition at line 70 of file message_publisher.h.

◆ mag_pub_

ros::Publisher sbg::MessagePublisher::mag_pub_

private

Definition at line 77 of file message_publisher.h.

◆ max_messages_

uint32_t sbg::MessagePublisher::max_messages_

private

Definition at line 88 of file message_publisher.h.

◆ message_wrapper_

MessageWrapper sbg::MessagePublisher::message_wrapper_

private

Definition at line 87 of file message_publisher.h.

◆ nav_sat_fix_pub_

ros::Publisher sbg::MessagePublisher::nav_sat_fix_pub_

private

Definition at line 82 of file message_publisher.h.

◆ nmea_gga_pub_

ros::Publisher sbg::MessagePublisher::nmea_gga_pub_

private

Definition at line 85 of file message_publisher.h.

◆ odometry_pub_

ros::Publisher sbg::MessagePublisher::odometry_pub_

private

Definition at line 83 of file message_publisher.h.

◆ pos_ecef_pub_

ros::Publisher sbg::MessagePublisher::pos_ecef_pub_

private

Definition at line 79 of file message_publisher.h.

◆ sbg_air_data_pub_

ros::Publisher sbg::MessagePublisher::sbg_air_data_pub_

private

Definition at line 68 of file message_publisher.h.

◆ sbg_ekf_euler_message_

sbg_driver::SbgEkfEuler sbg::MessagePublisher::sbg_ekf_euler_message_

private

Definition at line 74 of file message_publisher.h.

◆ sbg_ekf_nav_message_

sbg_driver::SbgEkfNav sbg::MessagePublisher::sbg_ekf_nav_message_

private

Definition at line 73 of file message_publisher.h.

◆ sbg_ekf_nav_pub_

ros::Publisher sbg::MessagePublisher::sbg_ekf_nav_pub_

private

Definition at line 53 of file message_publisher.h.

◆ sbg_ekf_quat_message_

sbg_driver::SbgEkfQuat sbg::MessagePublisher::sbg_ekf_quat_message_

private

Definition at line 72 of file message_publisher.h.

◆ sbg_ekf_quat_pub_

ros::Publisher sbg::MessagePublisher::sbg_ekf_quat_pub_

private

Definition at line 52 of file message_publisher.h.

◆ sbg_ekf_ruler_pub_

ros::Publisher sbg::MessagePublisher::sbg_ekf_ruler_pub_

private

Definition at line 51 of file message_publisher.h.

◆ sbg_event_A_pub_

ros::Publisher sbg::MessagePublisher::sbg_event_A_pub_

private

Definition at line 62 of file message_publisher.h.

◆ sbg_event_B_pub_

ros::Publisher sbg::MessagePublisher::sbg_event_B_pub_

private

Definition at line 63 of file message_publisher.h.

◆ sbg_event_C_pub_

ros::Publisher sbg::MessagePublisher::sbg_event_C_pub_

private

Definition at line 64 of file message_publisher.h.

◆ sbg_event_D_pub_

ros::Publisher sbg::MessagePublisher::sbg_event_D_pub_

private

Definition at line 65 of file message_publisher.h.

◆ sbg_event_E_pub_

ros::Publisher sbg::MessagePublisher::sbg_event_E_pub_

private

Definition at line 66 of file message_publisher.h.

◆ sbg_gps_hdt_pub_

ros::Publisher sbg::MessagePublisher::sbg_gps_hdt_pub_

private

Definition at line 59 of file message_publisher.h.

◆ sbg_gps_pos_pub_

ros::Publisher sbg::MessagePublisher::sbg_gps_pos_pub_

private

Definition at line 58 of file message_publisher.h.

◆ sbg_gps_raw_pub_

ros::Publisher sbg::MessagePublisher::sbg_gps_raw_pub_

private

Definition at line 60 of file message_publisher.h.

◆ sbg_gps_vel_pub_

ros::Publisher sbg::MessagePublisher::sbg_gps_vel_pub_

private

Definition at line 57 of file message_publisher.h.

◆ sbg_imu_data_pub_

ros::Publisher sbg::MessagePublisher::sbg_imu_data_pub_

private

Definition at line 50 of file message_publisher.h.

◆ sbg_imu_message_

sbg_driver::SbgImuData sbg::MessagePublisher::sbg_imu_message_

private

Definition at line 71 of file message_publisher.h.

◆ sbg_imu_short_pub_

ros::Publisher sbg::MessagePublisher::sbg_imu_short_pub_

private

Definition at line 67 of file message_publisher.h.

◆ sbg_mag_calib_pub_

ros::Publisher sbg::MessagePublisher::sbg_mag_calib_pub_

private

Definition at line 56 of file message_publisher.h.

◆ sbg_mag_pub_

ros::Publisher sbg::MessagePublisher::sbg_mag_pub_

private

Definition at line 55 of file message_publisher.h.

◆ sbg_odo_vel_pub_

ros::Publisher sbg::MessagePublisher::sbg_odo_vel_pub_

private

Definition at line 61 of file message_publisher.h.

◆ sbg_ship_motion_pub_

ros::Publisher sbg::MessagePublisher::sbg_ship_motion_pub_

private

Definition at line 54 of file message_publisher.h.

◆ sbg_status_pub_

ros::Publisher sbg::MessagePublisher::sbg_status_pub_

private

Definition at line 48 of file message_publisher.h.

◆ sbg_utc_time_pub_

ros::Publisher sbg::MessagePublisher::sbg_utc_time_pub_

private

Definition at line 49 of file message_publisher.h.

◆ temp_pub_

ros::Publisher sbg::MessagePublisher::temp_pub_

private

Definition at line 76 of file message_publisher.h.

◆ utc_reference_pub_

ros::Publisher sbg::MessagePublisher::utc_reference_pub_

private

Definition at line 81 of file message_publisher.h.

◆ velocity_pub_

ros::Publisher sbg::MessagePublisher::velocity_pub_

private

Definition at line 80 of file message_publisher.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MessagePublisher()

Member Function Documentation

◆ defineRosStandardPublishers()

◆ getOutputTopicName()

◆ initPublisher()

◆ initPublishers()

◆ processRosImuMessage()

◆ processRosOdoMessage()

◆ processRosVelMessage()

◆ publish()

◆ publishEkfNavigationData()

◆ publishFluidPressureData()

◆ publishGpsPosData()

◆ publishIMUData()

◆ publishMagData()

◆ publishUtcData()

Member Data Documentation

◆ fluid_pub_

◆ frame_id_

◆ imu_pub_

◆ mag_pub_

◆ max_messages_

◆ message_wrapper_

◆ nav_sat_fix_pub_

◆ nmea_gga_pub_

◆ odometry_pub_

◆ pos_ecef_pub_

◆ sbg_air_data_pub_

◆ sbg_ekf_euler_message_

◆ sbg_ekf_nav_message_

◆ sbg_ekf_nav_pub_

◆ sbg_ekf_quat_message_

◆ sbg_ekf_quat_pub_

◆ sbg_ekf_ruler_pub_

◆ sbg_event_A_pub_

◆ sbg_event_B_pub_

◆ sbg_event_C_pub_

◆ sbg_event_D_pub_

◆ sbg_event_E_pub_

◆ sbg_gps_hdt_pub_

◆ sbg_gps_pos_pub_

◆ sbg_gps_raw_pub_

◆ sbg_gps_vel_pub_

◆ sbg_imu_data_pub_

◆ sbg_imu_message_

◆ sbg_imu_short_pub_

◆ sbg_mag_calib_pub_

◆ sbg_mag_pub_

◆ sbg_odo_vel_pub_

◆ sbg_ship_motion_pub_

◆ sbg_status_pub_

◆ sbg_utc_time_pub_

◆ temp_pub_

◆ utc_reference_pub_

◆ velocity_pub_