#include <any>
#include <iomanip>
#include <sstream>
#include <unordered_map>
#include <rclcpp/rclcpp.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_eigen/tf2_eigen.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <diagnostic_msgs/msg/diagnostic_array.hpp>
#include <diagnostic_msgs/msg/diagnostic_status.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <gps_msgs/msg/gps_fix.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>
#include <sensor_msgs/msg/time_reference.hpp>
#include <septentrio_gnss_driver/msg/aim_plus_status.hpp>
#include <septentrio_gnss_driver/msg/att_cov_euler.hpp>
#include <septentrio_gnss_driver/msg/att_euler.hpp>
#include <septentrio_gnss_driver/msg/base_vector_cart.hpp>
#include <septentrio_gnss_driver/msg/base_vector_geod.hpp>
#include <septentrio_gnss_driver/msg/block_header.hpp>
#include <septentrio_gnss_driver/msg/gal_auth_status.hpp>
#include <septentrio_gnss_driver/msg/meas_epoch.hpp>
#include <septentrio_gnss_driver/msg/meas_epoch_channel_type1.hpp>
#include <septentrio_gnss_driver/msg/meas_epoch_channel_type2.hpp>
#include <septentrio_gnss_driver/msg/pos_cov_cartesian.hpp>
#include <septentrio_gnss_driver/msg/pos_cov_geodetic.hpp>
#include <septentrio_gnss_driver/msg/pvt_cartesian.hpp>
#include <septentrio_gnss_driver/msg/pvt_geodetic.hpp>
#include <septentrio_gnss_driver/msg/receiver_time.hpp>
#include <septentrio_gnss_driver/msg/rf_band.hpp>
#include <septentrio_gnss_driver/msg/rf_status.hpp>
#include <septentrio_gnss_driver/msg/vector_info_cart.hpp>
#include <septentrio_gnss_driver/msg/vector_info_geod.hpp>
#include <septentrio_gnss_driver/msg/vel_cov_cartesian.hpp>
#include <septentrio_gnss_driver/msg/vel_cov_geodetic.hpp>
#include <nmea_msgs/msg/gpgga.hpp>
#include <nmea_msgs/msg/gpgsa.hpp>
#include <nmea_msgs/msg/gpgsv.hpp>
#include <nmea_msgs/msg/gprmc.hpp>
#include <septentrio_gnss_driver/msg/ext_sensor_meas.hpp>
#include <septentrio_gnss_driver/msg/imu_setup.hpp>
#include <septentrio_gnss_driver/msg/ins_nav_cart.hpp>
#include <septentrio_gnss_driver/msg/ins_nav_geod.hpp>
#include <septentrio_gnss_driver/msg/vel_sensor_setup.hpp>
#include <septentrio_gnss_driver/communication/settings.hpp>
#include <septentrio_gnss_driver/parsers/sbf_utilities.hpp>
#include <septentrio_gnss_driver/parsers/string_utilities.hpp>

Classes
class	ROSaicNodeBase
	This class is the base class for abstraction. More...

Namespaces
	log_level
	Log level for ROS logging.

Typedefs
typedef septentrio_gnss_driver::msg::AIMPlusStatus	AimPlusStatusMsg

typedef septentrio_gnss_driver::msg::AttCovEuler	AttCovEulerMsg

typedef septentrio_gnss_driver::msg::AttEuler	AttEulerMsg

typedef septentrio_gnss_driver::msg::BaseVectorCart	BaseVectorCartMsg

typedef septentrio_gnss_driver::msg::BaseVectorGeod	BaseVectorGeodMsg

typedef septentrio_gnss_driver::msg::BlockHeader	BlockHeaderMsg

typedef diagnostic_msgs::msg::DiagnosticArray	DiagnosticArrayMsg

typedef diagnostic_msgs::msg::DiagnosticStatus	DiagnosticStatusMsg

typedef septentrio_gnss_driver::msg::ExtSensorMeas	ExtSensorMeasMsg

typedef septentrio_gnss_driver::msg::GALAuthStatus	GalAuthStatusMsg

typedef nmea_msgs::msg::Gpgga	GpggaMsg

typedef nmea_msgs::msg::Gpgsa	GpgsaMsg

typedef nmea_msgs::msg::Gpgsv	GpgsvMsg

typedef nmea_msgs::msg::Gprmc	GprmcMsg

typedef gps_msgs::msg::GPSFix	GpsFixMsg

typedef gps_msgs::msg::GPSStatus	GpsStatusMsg

typedef sensor_msgs::msg::Imu	ImuMsg

typedef septentrio_gnss_driver::msg::IMUSetup	IMUSetupMsg

typedef septentrio_gnss_driver::msg::INSNavCart	INSNavCartMsg

typedef septentrio_gnss_driver::msg::INSNavGeod	INSNavGeodMsg

typedef nav_msgs::msg::Odometry	LocalizationMsg

typedef septentrio_gnss_driver::msg::MeasEpochChannelType1	MeasEpochChannelType1Msg

typedef septentrio_gnss_driver::msg::MeasEpochChannelType2	MeasEpochChannelType2Msg

typedef septentrio_gnss_driver::msg::MeasEpoch	MeasEpochMsg

typedef sensor_msgs::msg::NavSatFix	NavSatFixMsg

typedef sensor_msgs::msg::NavSatStatus	NavSatStatusMsg

typedef septentrio_gnss_driver::msg::PosCovCartesian	PosCovCartesianMsg

typedef septentrio_gnss_driver::msg::PosCovGeodetic	PosCovGeodeticMsg

typedef geometry_msgs::msg::PoseWithCovarianceStamped	PoseWithCovarianceStampedMsg

typedef septentrio_gnss_driver::msg::PVTCartesian	PVTCartesianMsg

typedef septentrio_gnss_driver::msg::PVTGeodetic	PVTGeodeticMsg

typedef geometry_msgs::msg::Quaternion	QuaternionMsg

typedef septentrio_gnss_driver::msg::ReceiverTime	ReceiverTimeMsg

typedef septentrio_gnss_driver::msg::RFBand	RfBandMsg

typedef septentrio_gnss_driver::msg::RFStatus	RfStatusMsg

typedef sensor_msgs::msg::TimeReference	TimeReferenceMsg

typedef uint64_t	Timestamp

typedef rclcpp::Time	TimestampRos

typedef geometry_msgs::msg::TransformStamped	TransformStampedMsg

typedef geometry_msgs::msg::TwistWithCovarianceStamped	TwistWithCovarianceStampedMsg

typedef geometry_msgs::msg::Vector3	Vector3Msg

typedef septentrio_gnss_driver::msg::VectorInfoCart	VectorInfoCartMsg

typedef septentrio_gnss_driver::msg::VectorInfoGeod	VectorInfoGeodMsg

typedef septentrio_gnss_driver::msg::VelCovCartesian	VelCovCartesianMsg

typedef septentrio_gnss_driver::msg::VelCovGeodetic	VelCovGeodeticMsg

typedef septentrio_gnss_driver::msg::VelSensorSetup	VelSensorSetupMsg

Enumerations
enum	log_level::LogLevel { log_level::DEBUG, log_level::INFO, log_level::WARN, log_level::ERROR, log_level::FATAL, log_level::DEBUG, log_level::INFO, log_level::WARN, log_level::ERROR, log_level::FATAL }

Functions
Timestamp	timestampFromRos (const TimestampRos &tsr)
	Convert ROS timestamp to nsec timestamp. More...

TimestampRos	timestampToRos (Timestamp ts)
	Convert nsec timestamp to ROS timestamp. More...

Typedef Documentation

◆ AimPlusStatusMsg

typedef septentrio_gnss_driver::msg::AIMPlusStatus AimPlusStatusMsg

Definition at line 122 of file typedefs.hpp.

◆ AttCovEulerMsg

typedef septentrio_gnss_driver::msg::AttCovEuler AttCovEulerMsg

Definition at line 132 of file typedefs.hpp.

◆ AttEulerMsg

typedef septentrio_gnss_driver::msg::AttEuler AttEulerMsg

Definition at line 133 of file typedefs.hpp.

◆ BaseVectorCartMsg

typedef septentrio_gnss_driver::msg::BaseVectorCart BaseVectorCartMsg

Definition at line 123 of file typedefs.hpp.

◆ BaseVectorGeodMsg

typedef septentrio_gnss_driver::msg::BaseVectorGeod BaseVectorGeodMsg

Definition at line 124 of file typedefs.hpp.

◆ BlockHeaderMsg

typedef septentrio_gnss_driver::msg::BlockHeader BlockHeaderMsg

Definition at line 125 of file typedefs.hpp.

◆ DiagnosticArrayMsg

typedef diagnostic_msgs::msg::DiagnosticArray DiagnosticArrayMsg

Definition at line 106 of file typedefs.hpp.

◆ DiagnosticStatusMsg

typedef diagnostic_msgs::msg::DiagnosticStatus DiagnosticStatusMsg

Definition at line 107 of file typedefs.hpp.

◆ ExtSensorMeasMsg

typedef septentrio_gnss_driver::msg::ExtSensorMeas ExtSensorMeasMsg

Definition at line 155 of file typedefs.hpp.

◆ GalAuthStatusMsg

typedef septentrio_gnss_driver::msg::GALAuthStatus GalAuthStatusMsg

Definition at line 126 of file typedefs.hpp.

◆ GpggaMsg

typedef nmea_msgs::msg::Gpgga GpggaMsg

Definition at line 145 of file typedefs.hpp.

◆ GpgsaMsg

typedef nmea_msgs::msg::Gpgsa GpgsaMsg

Definition at line 146 of file typedefs.hpp.

◆ GpgsvMsg

typedef nmea_msgs::msg::Gpgsv GpgsvMsg

Definition at line 147 of file typedefs.hpp.

◆ GprmcMsg

typedef nmea_msgs::msg::Gprmc GprmcMsg

Definition at line 148 of file typedefs.hpp.

◆ GpsFixMsg

typedef gps_msgs::msg::GPSFix GpsFixMsg

Definition at line 113 of file typedefs.hpp.

◆ GpsStatusMsg

typedef gps_msgs::msg::GPSStatus GpsStatusMsg

Definition at line 114 of file typedefs.hpp.

◆ ImuMsg

typedef sensor_msgs::msg::Imu ImuMsg

Definition at line 118 of file typedefs.hpp.

◆ IMUSetupMsg

typedef septentrio_gnss_driver::msg::IMUSetup IMUSetupMsg

Definition at line 153 of file typedefs.hpp.

◆ INSNavCartMsg

typedef septentrio_gnss_driver::msg::INSNavCart INSNavCartMsg

Definition at line 151 of file typedefs.hpp.

◆ INSNavGeodMsg

typedef septentrio_gnss_driver::msg::INSNavGeod INSNavGeodMsg

Definition at line 152 of file typedefs.hpp.

◆ LocalizationMsg

typedef nav_msgs::msg::Odometry LocalizationMsg

Definition at line 119 of file typedefs.hpp.

◆ MeasEpochChannelType1Msg

typedef septentrio_gnss_driver::msg::MeasEpochChannelType1 MeasEpochChannelType1Msg

Definition at line 130 of file typedefs.hpp.

◆ MeasEpochChannelType2Msg

typedef septentrio_gnss_driver::msg::MeasEpochChannelType2 MeasEpochChannelType2Msg

Definition at line 131 of file typedefs.hpp.

◆ MeasEpochMsg

typedef septentrio_gnss_driver::msg::MeasEpoch MeasEpochMsg

Definition at line 129 of file typedefs.hpp.

◆ NavSatFixMsg

typedef sensor_msgs::msg::NavSatFix NavSatFixMsg

Definition at line 115 of file typedefs.hpp.

◆ NavSatStatusMsg

typedef sensor_msgs::msg::NavSatStatus NavSatStatusMsg

Definition at line 116 of file typedefs.hpp.

◆ PosCovCartesianMsg

typedef septentrio_gnss_driver::msg::PosCovCartesian PosCovCartesianMsg

Definition at line 136 of file typedefs.hpp.

◆ PosCovGeodeticMsg

typedef septentrio_gnss_driver::msg::PosCovGeodetic PosCovGeodeticMsg

Definition at line 137 of file typedefs.hpp.

◆ PoseWithCovarianceStampedMsg

typedef geometry_msgs::msg::PoseWithCovarianceStamped PoseWithCovarianceStampedMsg

Definition at line 109 of file typedefs.hpp.

◆ PVTCartesianMsg

typedef septentrio_gnss_driver::msg::PVTCartesian PVTCartesianMsg

Definition at line 134 of file typedefs.hpp.

◆ PVTGeodeticMsg

typedef septentrio_gnss_driver::msg::PVTGeodetic PVTGeodeticMsg

Definition at line 135 of file typedefs.hpp.

◆ QuaternionMsg

typedef geometry_msgs::msg::Quaternion QuaternionMsg

Definition at line 108 of file typedefs.hpp.

◆ ReceiverTimeMsg

typedef septentrio_gnss_driver::msg::ReceiverTime ReceiverTimeMsg

Definition at line 138 of file typedefs.hpp.

◆ RfBandMsg

typedef septentrio_gnss_driver::msg::RFBand RfBandMsg

Definition at line 128 of file typedefs.hpp.

◆ RfStatusMsg

typedef septentrio_gnss_driver::msg::RFStatus RfStatusMsg

Definition at line 127 of file typedefs.hpp.

◆ TimeReferenceMsg

typedef sensor_msgs::msg::TimeReference TimeReferenceMsg

Definition at line 117 of file typedefs.hpp.

◆ Timestamp

typedef uint64_t Timestamp

Definition at line 101 of file typedefs.hpp.

◆ TimestampRos

typedef rclcpp::Time TimestampRos

Definition at line 103 of file typedefs.hpp.

◆ TransformStampedMsg

typedef geometry_msgs::msg::TransformStamped TransformStampedMsg

Definition at line 111 of file typedefs.hpp.

◆ TwistWithCovarianceStampedMsg

typedef geometry_msgs::msg::TwistWithCovarianceStamped TwistWithCovarianceStampedMsg

Definition at line 110 of file typedefs.hpp.

◆ Vector3Msg

typedef geometry_msgs::msg::Vector3 Vector3Msg

Definition at line 112 of file typedefs.hpp.

◆ VectorInfoCartMsg

typedef septentrio_gnss_driver::msg::VectorInfoCart VectorInfoCartMsg

Definition at line 139 of file typedefs.hpp.

◆ VectorInfoGeodMsg

typedef septentrio_gnss_driver::msg::VectorInfoGeod VectorInfoGeodMsg

Definition at line 140 of file typedefs.hpp.

◆ VelCovCartesianMsg

typedef septentrio_gnss_driver::msg::VelCovCartesian VelCovCartesianMsg

Definition at line 141 of file typedefs.hpp.

◆ VelCovGeodeticMsg

typedef septentrio_gnss_driver::msg::VelCovGeodetic VelCovGeodeticMsg

Definition at line 142 of file typedefs.hpp.

◆ VelSensorSetupMsg

typedef septentrio_gnss_driver::msg::VelSensorSetup VelSensorSetupMsg

Definition at line 154 of file typedefs.hpp.

Function Documentation

◆ timestampFromRos()

Timestamp timestampFromRos ( const TimestampRos & tsr )

inline

Convert ROS timestamp to nsec timestamp.

Parameters

[in] ts ROS timestamp

Returns: timestamp in nanoseconds (Unix epoch)

Definition at line 169 of file typedefs.hpp.

◆ timestampToRos()

TimestampRos timestampToRos ( Timestamp ts )