.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_ublox_firmware8.hpp:

Program Listing for File ublox_firmware8.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_ublox_firmware8.hpp>` (``/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/ublox_firmware8.hpp``)

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

.. code-block:: cpp

   #ifndef UBLOX_GPS_UBLOX_FIRMWARE8_HPP
   #define UBLOX_GPS_UBLOX_FIRMWARE8_HPP
   
   #include <memory>
   #include <string>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   #include <ublox_msgs/msg/cfg_nmea.hpp>
   #include <ublox_msgs/msg/mon_hw.hpp>
   #include <ublox_msgs/msg/nav_pvt.hpp>
   #include <ublox_msgs/msg/nav_sat.hpp>
   #include <ublox_msgs/msg/rxm_rtcm.hpp>
   
   #include <ublox_gps/gps.hpp>
   #include <ublox_gps/ublox_firmware7plus.hpp>
   
   namespace ublox_node {
   
   class UbloxFirmware8 : public UbloxFirmware7Plus<ublox_msgs::msg::NavPVT> {
    public:
     explicit UbloxFirmware8(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)
       : UbloxFirmware7Plus<ublox_msgs::msg::NavPVT>(frame_id, updater, freq_diag, gnss, node) {
       if (getRosBoolean(node_, "publish.nav.sat")) {
         nav_sat_pub_ = node->create_publisher<ublox_msgs::msg::NavSAT>("navstate", 1);
       }
       if (getRosBoolean(node_, "publish.mon.hw")) {
         mon_hw_pub_ = node->create_publisher<ublox_msgs::msg::MonHW>("monhw", 1);
       }
       if (getRosBoolean(node_, "publish.rxm.rtcm")) {
         rxm_rtcm_pub_ = node->create_publisher<ublox_msgs::msg::RxmRTCM>("rxmrtcm", 1);
       }
     }
   
     void getRosParams() override;
   
     bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override;
   
     void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;
   
    private:
     // Set from ROS parameters
     bool enable_galileo_{false};
     bool enable_beidou_{false};
     bool enable_imes_{false};
     ublox_msgs::msg::CfgNMEA cfg_nmea_;
     bool clear_bbr_{false};
     bool save_on_shutdown_{false};
   
     rclcpp::Publisher<ublox_msgs::msg::NavSAT>::SharedPtr nav_sat_pub_;
     rclcpp::Publisher<ublox_msgs::msg::MonHW>::SharedPtr mon_hw_pub_;
     rclcpp::Publisher<ublox_msgs::msg::RxmRTCM>::SharedPtr rxm_rtcm_pub_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_UBLOX_FIRMWARE8_HPP