.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_ublox_firmware6.hpp:

Program Listing for File ublox_firmware6.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_ublox_firmware6.hpp>` (``/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/ublox_firmware6.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef UBLOX_GPS_UBLOX_FIRMWARE6_HPP
   #define UBLOX_GPS_UBLOX_FIRMWARE6_HPP
   
   #include <memory>
   #include <string>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/nav_sat_fix.hpp>
   
   #include <ublox_msgs/msg/cfg_nmea6.hpp>
   #include <ublox_msgs/msg/nav_posllh.hpp>
   #include <ublox_msgs/msg/nav_sol.hpp>
   #include <ublox_msgs/msg/nav_velned.hpp>
   
   #include <ublox_gps/fix_diagnostic.hpp>
   #include <ublox_gps/gps.hpp>
   #include <ublox_gps/ublox_firmware.hpp>
   
   namespace ublox_node {
   
   class UbloxFirmware6 final : public UbloxFirmware {
    public:
     explicit UbloxFirmware6(const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<FixDiagnostic> freq_diag, std::shared_ptr<Gnss> gnss, rclcpp::Node* node);
   
     void getRosParams() override;
   
     bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override;
   
     void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;
   
    protected:
     void fixDiagnostic(diagnostic_updater::DiagnosticStatusWrapper& stat) override;
   
    private:
     void callbackNavPosLlh(const ublox_msgs::msg::NavPOSLLH& m);
   
     void callbackNavVelNed(const ublox_msgs::msg::NavVELNED& m);
   
     void callbackNavSol(const ublox_msgs::msg::NavSOL& m);
   
     ublox_msgs::msg::NavPOSLLH last_nav_pos_;
     ublox_msgs::msg::NavVELNED last_nav_vel_;
     ublox_msgs::msg::NavSOL last_nav_sol_;
     sensor_msgs::msg::NavSatFix fix_;
     geometry_msgs::msg::TwistWithCovarianceStamped velocity_;
   
     ublox_msgs::msg::CfgNMEA6 cfg_nmea_;
   
     rclcpp::Publisher<ublox_msgs::msg::NavPOSLLH>::SharedPtr nav_pos_llh_pub_;
     rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr fix_pub_;
     rclcpp::Publisher<ublox_msgs::msg::NavVELNED>::SharedPtr nav_vel_ned_pub_;
     rclcpp::Publisher<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr vel_pub_;
     rclcpp::Publisher<ublox_msgs::msg::NavSOL>::SharedPtr nav_sol_pub_;
     rclcpp::Publisher<ublox_msgs::msg::NavSVINFO>::SharedPtr nav_svinfo_pub_;
     rclcpp::Publisher<ublox_msgs::msg::MonHW6>::SharedPtr mon_hw_pub_;
   
     std::string frame_id_;
     std::shared_ptr<FixDiagnostic> freq_diag_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_UBLOX_FIRMWARE6_HPP