Global position plugin. More...
Public Member Functions | |
const message_map | get_rx_handlers () |
Return map with message rx handlers. | |
GlobalPositionPlugin () | |
void | initialize (UAS &uas_) |
Plugin initializer. | |
Private Member Functions | |
template<typename MsgT > | |
void | fill_lla (MsgT &msg, sensor_msgs::NavSatFix::Ptr fix) |
void | fill_unknown_cov (sensor_msgs::NavSatFix::Ptr fix) |
void | gps_diag_run (diagnostic_updater::DiagnosticStatusWrapper &stat) |
void | handle_global_position_int (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
void | handle_gps_raw_int (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
Private Attributes | |
std::string | frame_id |
frame for topic headers | |
ros::Publisher | gp_fix_pub |
ros::Publisher | gp_hdg_pub |
ros::NodeHandle | gp_nh |
ros::Publisher | gp_odom_pub |
ros::Publisher | gp_rel_alt_pub |
ros::Publisher | raw_fix_pub |
ros::Publisher | raw_vel_pub |
double | rot_cov |
std::string | tf_child_frame_id |
frame for TF and Pose | |
std::string | tf_frame_id |
origin for TF | |
bool | tf_send |
UAS * | uas |
Global position plugin.
Publishes global position. Convertion from GPS to UTF allows publishing local position to TF and PoseWithCovarianceStamped.
Definition at line 42 of file global_position.cpp.