Node receives NavSatFix messages and publishes ENU Odometry messages. More...

#include <boost/bind.hpp>
#include <string>
#include "ros/ros.h"
#include "sensor_msgs/NavSatFix.h"
#include "nav_msgs/Odometry.h"
#include "enu/ToENU.h"
#include "enu/enu.h"

Include dependency graph for from_fix.cpp:

Go to the source code of this file.

Functions
static void	handle_fix (const sensor_msgs::NavSatFixConstPtr fix_ptr, const ros::Publisher &pub_odom, const ros::Publisher &pub_datum, const std::string &output_tf_frame, const double invalid_covariance_value, const double scale_covariance, const double lock_altitude)
void	initialize_datum (const sensor_msgs::NavSatFix &fix, const ros::Publisher &pub_datum, sensor_msgs::NavSatFix *datum_ptr)
int	main (int argc, char **argv)
bool	toENUService (const enu::ToENU::Request &req, enu::ToENU::Response &resp)

Detailed Description

Node receives NavSatFix messages and publishes ENU Odometry messages.

Author:: Mike Purvis <mpurvis@clearpathrobotics.com>; Ryan Gariepy <rgariepy@clearpathrobotics.com>

Copyright:: Copyright (c) 2013, Clearpath Robotics, Inc. All Rights Reserved

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send comments, questions, or patches to skynet@clearpathrobotics.com

Definition in file from_fix.cpp.

Function Documentation

static void handle_fix	(	const sensor_msgs::NavSatFixConstPtr	fix_ptr,
		const ros::Publisher &	pub_odom,
		const ros::Publisher &	pub_datum,
		const std::string &	output_tf_frame,
		const double	invalid_covariance_value,
		const double	scale_covariance,
		const double	lock_altitude
	)		`[static]`

Definition at line 74 of file from_fix.cpp.

void initialize_datum	(	const sensor_msgs::NavSatFix &	fix,
		const ros::Publisher &	pub_datum,
		sensor_msgs::NavSatFix *	datum_ptr
	)

Definition at line 47 of file from_fix.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 127 of file from_fix.cpp.

bool toENUService	(	const enu::ToENU::Request &	req,
		enu::ToENU::Response &	resp
	)

Definition at line 122 of file from_fix.cpp.

Functions

Detailed Description

Function Documentation