Program Listing for File hp_pos_rec_product.hpp

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#ifndef UBLOX_GPS_HP_POS_REC_PRODUCT_HPP
#define UBLOX_GPS_HP_POS_REC_PRODUCT_HPP

#include <memory>
#include <string>
#include <vector>

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>

#include <ublox_msgs/msg/nav_relposned9.hpp>

#include <ublox_gps/gps.hpp>
#include <ublox_gps/hpg_ref_product.hpp>
#include <ublox_gps/rtcm.hpp>

namespace ublox_node {

class HpPosRecProduct final : public virtual HpgRefProduct {
 public:
  explicit HpPosRecProduct(uint16_t nav_rate, uint16_t meas_rate, const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::vector<ublox_gps::Rtcm> rtcms, rclcpp::Node* node);

  void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;

 private:

  void callbackNavRelPosNed(const ublox_msgs::msg::NavRELPOSNED9 &m);

  sensor_msgs::msg::Imu imu_;

  ublox_msgs::msg::NavRELPOSNED9 last_rel_pos_;

  rclcpp::Publisher<ublox_msgs::msg::NavRELPOSNED9>::SharedPtr nav_relposned_pub_;
  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;

  std::string frame_id_;
};

}  // namespace ublox_node

#endif  // UBLOX_GPS_HP_POS_REC_PRODUCT_HPP