#include <novatel_gps.h>

Public Types
enum	ConnectionType { SERIAL, TCP, UDP, PCAP, INVALID }
enum	ReadResult { READ_SUCCESS = 0, READ_INSUFFICIENT_DATA = 1, READ_TIMEOUT = 2, READ_INTERRUPTED = 3, READ_ERROR = -1, READ_PARSE_FAILED = -2 }
Public Member Functions
void	ApplyVehicleBodyRotation (const bool &apply_rotation)
	Determines whether or not to apply a 90 degree counter-clockwise rotation about Z to the Novatel SPAN frame to match up with the ROS coordinate frame.
bool	Connect (const std::string &device, ConnectionType connection)
bool	Connect (const std::string &device, ConnectionType connection, NovatelMessageOpts const &opts)
void	Disconnect ()
std::string	ErrorMsg () const
void	GetClockSteeringMessages (std::vector< novatel_gps_msgs::ClockSteeringPtr > &clocksteering_msgs)
	Provides any CLOCKSTEERING messages that have been received since the last time this was called.
void	GetFixMessages (std::vector< gps_common::GPSFixPtr > &fix_messages)
	Provides any GPSFix messages that have been generated since the last time this was called.
void	GetGpggaMessages (std::vector< novatel_gps_msgs::GpggaPtr > &gpgga_messages)
	Provides any GPGGA messages that have been received since the last time this was called.
void	GetGpgsaMessages (std::vector< novatel_gps_msgs::GpgsaPtr > &gpgsa_messages)
	Provides any GPGSA messages that have been received since the last time this was called.
void	GetGpgsvMessages (std::vector< novatel_gps_msgs::GpgsvPtr > &gpgsv_messages)
	Provides any GPGSV messages that have been received since the last time this was called.
void	GetGprmcMessages (std::vector< novatel_gps_msgs::GprmcPtr > &gprmc_messages)
	Provides any GPRMC messages that have been received since the last time this was called.
void	GetImuMessages (std::vector< sensor_msgs::ImuPtr > &imu_messages)
	Provides any Imu messages that have been generated since the last time this was called.
void	GetInscovMessages (std::vector< novatel_gps_msgs::InscovPtr > &inscov_messages)
	Provides any INSCOV messages that have been received since the last time this was called.
void	GetInspvaMessages (std::vector< novatel_gps_msgs::InspvaPtr > &inspva_messages)
	Provides any INSPVA messages that have been received since the last time this was called.
void	GetInsstdevMessages (std::vector< novatel_gps_msgs::InsstdevPtr > &insstdev_messages)
	Provides any INSSTDEV messages that have been received since the last time this was called.
void	GetNovatelCorrectedImuData (std::vector< novatel_gps_msgs::NovatelCorrectedImuDataPtr > &imu_messages)
	Provides any CORRIMUDATA messages that have been received since the last time this was called.
void	GetNovatelDualAntennaHeadingMessages (std::vector< novatel_gps_msgs::NovatelDualAntennaHeadingPtr > &headings)
	Provides any DUALANTENNAHEADING messages that have been received since the last time this was called.
void	GetNovatelHeading2Messages (std::vector< novatel_gps_msgs::NovatelHeading2Ptr > &headings)
	Provides any HEADING2 messages that have been received since the last time this was called.
void	GetNovatelPositions (std::vector< novatel_gps_msgs::NovatelPositionPtr > &positions)
	Provides any BESTPOS messages that have been received since the last time this was called.
void	GetNovatelUtmPositions (std::vector< novatel_gps_msgs::NovatelUtmPositionPtr > &utm_positions)
	Provides any BESTUTM messages that have been received since the last time this was called.
void	GetNovatelVelocities (std::vector< novatel_gps_msgs::NovatelVelocityPtr > &velocities)
	Provides any BESTVEL messages that have been received since the last time this was called.
void	GetNovatelXYZPositions (std::vector< novatel_gps_msgs::NovatelXYZPtr > &positions)
	Provides any BESTXYZ messages that have been received since the last time this was called.
void	GetRangeMessages (std::vector< novatel_gps_msgs::RangePtr > &range_messages)
	Provides any RANGE messages that have been received since the last time this was called.
void	GetTimeMessages (std::vector< novatel_gps_msgs::TimePtr > &time_messages)
	Provides any TIME messages that have been received since the last time this was called.
void	GetTrackstatMessages (std::vector< novatel_gps_msgs::TrackstatPtr > &trackstat_msgs)
	Provides any TRACKSTAT messages that have been received since the last time this was called.
bool	IsConnected ()
	NovatelGps ()
ReadResult	ProcessData ()
	Processes any data that has been received from the device since the last time this message was called. May result in any number of messages being placed in the individual message buffers.
void	SetImuRate (double imu_rate, bool force=true)
	Sets the IMU rate; necessary for producing sensor_msgs/Imu messages.
void	SetSerialBaud (int32_t serial_baud)
	Sets the serial baud rate; should be called before configuring a serial connection.
bool	Write (const std::string &command)
	Writes the given string of characters to a connected NovAtel device.
	~NovatelGps ()
Static Public Member Functions
static ConnectionType	ParseConnection (const std::string &connection)
	Converts the strings "udp", "tcp", or "serial" into the corresponding enum values.
Public Attributes
double	gpgga_gprmc_sync_tol_
double	gpgga_position_sync_tol_
bool	wait_for_position_
Private Member Functions
bool	Configure (NovatelMessageOpts const &opts)
	(Re)configure the driver with a set of message options
bool	CreateIpConnection (const std::string &endpoint, NovatelMessageOpts const &opts)
	Establishes an IP connection with a NovAtel device.
bool	CreatePcapConnection (const std::string &device, NovatelMessageOpts const &opts)
	Creates a pcap device for playing back recorded data.
bool	CreateSerialConnection (const std::string &device, NovatelMessageOpts const &opts)
	Establishes a serial port connection with a NovAtel device.
void	GenerateImuMessages ()
	Processes any messages in our corrimudata & inspva queues in order to generate Imu messages from them.
NovatelGps::ReadResult	ParseBinaryMessage (const BinaryMessage &msg, const ros::Time &stamp) throw (ParseException)
	Converts a BinaryMessage object into a ROS message of the appropriate type and places it in the appropriate buffer.
NovatelGps::ReadResult	ParseNmeaSentence (const NmeaSentence &sentence, const ros::Time &stamp, double most_recent_utc_time) throw (ParseException)
	Converts an NMEA sentence into a ROS message of the appropriate type and places it in the appropriate buffer.
NovatelGps::ReadResult	ParseNovatelSentence (const NovatelSentence &sentence, const ros::Time &stamp) throw (ParseException)
	Converts a NovatelSentence object into a ROS message of the appropriate type and places it in the appropriate buffer.
ReadResult	ReadData ()
	Reads data from a connected NovAtel device. Any read data will be appended to data_buffer_.
Private Attributes
bool	apply_vehicle_body_rotation_
BestposParser	bestpos_parser_
BestutmParser	bestutm_parser_
BestvelParser	bestvel_parser_
BestxyzParser	bestxyz_parser_
boost::circular_buffer < novatel_gps_msgs::ClockSteeringPtr >	clocksteering_msgs_
ClockSteeringParser	clocksteering_parser_
ConnectionType	connection_
boost::circular_buffer < novatel_gps_msgs::NovatelCorrectedImuDataPtr >	corrimudata_msgs_
CorrImuDataParser	corrimudata_parser_
std::queue < novatel_gps_msgs::NovatelCorrectedImuDataPtr >	corrimudata_queue_
std::vector< uint8_t >	data_buffer_
boost::circular_buffer < novatel_gps_msgs::NovatelDualAntennaHeadingPtr >	dual_antenna_heading_msgs_
DualAntennaHeadingParser	dual_antenna_heading_parser_
std::string	error_msg_
NovatelMessageExtractor	extractor_
	Used to extract messages from the incoming data stream.
boost::circular_buffer < novatel_gps_msgs::GpggaPtr >	gpgga_msgs_
GpggaParser	gpgga_parser_
boost::circular_buffer < novatel_gps_msgs::Gpgga >	gpgga_sync_buffer_
boost::circular_buffer < novatel_gps_msgs::GpgsaPtr >	gpgsa_msgs_
GpgsaParser	gpgsa_parser_
boost::circular_buffer < novatel_gps_msgs::GpgsvPtr >	gpgsv_msgs_
GpgsvParser	gpgsv_parser_
boost::circular_buffer < novatel_gps_msgs::GprmcPtr >	gprmc_msgs_
GprmcParser	gprmc_parser_
boost::circular_buffer < novatel_gps_msgs::Gprmc >	gprmc_sync_buffer_
boost::circular_buffer < novatel_gps_msgs::NovatelHeading2Ptr >	heading2_msgs_
Heading2Parser	heading2_parser_
boost::circular_buffer < sensor_msgs::ImuPtr >	imu_msgs_
double	imu_rate_
bool	imu_rate_forced_
boost::circular_buffer < novatel_gps_msgs::InscovPtr >	inscov_msgs_
InscovParser	inscov_parser_
boost::circular_buffer < novatel_gps_msgs::InspvaPtr >	inspva_msgs_
InspvaParser	inspva_parser_
std::queue < novatel_gps_msgs::InspvaPtr >	inspva_queue_
boost::circular_buffer < novatel_gps_msgs::InsstdevPtr >	insstdev_msgs_
InsstdevParser	insstdev_parser_
boost::asio::io_service	io_service_
bool	is_connected_
std::vector< uint8_t >	last_tcp_packet_
novatel_gps_msgs::InscovPtr	latest_inscov_
novatel_gps_msgs::InsstdevPtr	latest_insstdev_
std::string	nmea_buffer_
	Buffer containing incomplete data from message parsing.
boost::circular_buffer < novatel_gps_msgs::NovatelPositionPtr >	novatel_positions_
boost::circular_buffer < novatel_gps_msgs::NovatelUtmPositionPtr >	novatel_utm_positions_
boost::circular_buffer < novatel_gps_msgs::NovatelVelocityPtr >	novatel_velocities_
boost::circular_buffer < novatel_gps_msgs::NovatelXYZPtr >	novatel_xyz_positions_
pcap_t *	pcap_
	pcap device for testing
char	pcap_errbuf_ [MAX_BUFFER_SIZE]
bpf_program	pcap_packet_filter_
boost::circular_buffer < novatel_gps_msgs::NovatelPositionPtr >	position_sync_buffer_
boost::circular_buffer < novatel_gps_msgs::RangePtr >	range_msgs_
RangeParser	range_parser_
swri_serial_util::SerialPort	serial_
int32_t	serial_baud_
boost::array< uint8_t, 10000 >	socket_buffer_
	Fixed-size buffer for reading directly from sockets.
boost::asio::ip::tcp::socket	tcp_socket_
boost::circular_buffer < novatel_gps_msgs::TimePtr >	time_msgs_
TimeParser	time_parser_
boost::circular_buffer < novatel_gps_msgs::TrackstatPtr >	trackstat_msgs_
TrackstatParser	trackstat_parser_
boost::shared_ptr < boost::asio::ip::udp::endpoint >	udp_endpoint_
boost::shared_ptr < boost::asio::ip::udp::socket >	udp_socket_
double	utc_offset_
Static Private Attributes
static constexpr uint16_t	DEFAULT_TCP_PORT = 3001
static constexpr uint16_t	DEFAULT_UDP_PORT = 3002
static constexpr double	DEGREES_TO_RADIANS = M_PI / 180.0
static constexpr double	IMU_TOLERANCE_S = 0.0002
static constexpr size_t	MAX_BUFFER_SIZE = 100
static constexpr uint32_t	SECONDS_PER_WEEK = 604800
static constexpr size_t	SYNC_BUFFER_SIZE = 10

Detailed Description

Definition at line 89 of file novatel_gps.h.

Member Enumeration Documentation

enum novatel_gps_driver::NovatelGps::ConnectionType

Enumerator:

SERIAL
TCP
UDP
PCAP
INVALID

Definition at line 92 of file novatel_gps.h.

enum novatel_gps_driver::NovatelGps::ReadResult

Enumerator:

READ_SUCCESS
READ_INSUFFICIENT_DATA
READ_TIMEOUT
READ_INTERRUPTED
READ_ERROR
READ_PARSE_FAILED

Definition at line 94 of file novatel_gps.h.

Constructor & Destructor Documentation

novatel_gps_driver::NovatelGps::NovatelGps ( )

Definition at line 45 of file novatel_gps.cpp.

novatel_gps_driver::NovatelGps::~NovatelGps ( )

Definition at line 83 of file novatel_gps.cpp.

Member Function Documentation

void novatel_gps_driver::NovatelGps::ApplyVehicleBodyRotation ( const bool & apply_rotation )

Determines whether or not to apply a 90 degree counter-clockwise rotation about Z to the Novatel SPAN frame to match up with the ROS coordinate frame.

Parameters:

apply_rotation A bool indicating whether or not to apply the rotation.

Definition at line 184 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Configure ( NovatelMessageOpts const & opts ) [private]

(Re)configure the driver with a set of message options

Parameters:

opts	A map from message name to log period (seconds)

Returns:: True on successful configuration

Definition at line 1431 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Connect	(	const std::string &	device,
		ConnectionType	connection
	)

Connect and configure with default message options.

Parameters:

device	For serial connections, a path to a device file handle, e.g. /dev/TTYUSB0; for IP connections, a host:port specification, e.g. "192.168.1.10:3001"
connection	The type of connection.

Returns:: True on success

Definition at line 88 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Connect	(	const std::string &	device,
		ConnectionType	connection,
		NovatelMessageOpts const &	opts
	)

Connect and configure with the given message options

Parameters:

device	For serial connections, a path to a device file handle, e.g. /dev/TTYUSB0; for IP connections, a host:port specification, e.g. "192.168.1.10:3001"
connection	The type of connection.
opts	Message options to use

Returns:: True on success

Definition at line 101 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreateIpConnection	(	const std::string &	endpoint,
		NovatelMessageOpts const &	opts
	)		`[private]`

Establishes an IP connection with a NovAtel device.

Based on the current value in connection_, this will create either a TCP or UDP socket; then, based on the value in endpoint, it will either create a connection to a NovAtel device on a specific port or wait for a connection from one. In any case, this method will block until a connection is either established or failed.

After it has been called, Configure() will be called on the device and provided opts in order to configure which logs it will produce. After that, ReadData() and Write() may be used to communicate with the device.

Parameters:

endpoint	A host and port specification; e. g., "192.168.1.10:1000". If the host host is omitted, it will listen for a connection the specified port. If the port is omitted, DEFAULT_TCP_PORT will be used for TCP connections and DEFAULT_UDP_PORT for UDP connections.
opts	A map of logs and periods the device should produce.

Returns:: false if it failed to create a connection, true otherwise.

Definition at line 608 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreatePcapConnection	(	const std::string &	device,
		NovatelMessageOpts const &	opts
	)		`[private]`

Creates a pcap device for playing back recorded data.

Parameters:

device
opts

Returns:

Definition at line 558 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreateSerialConnection	(	const std::string &	device,
		NovatelMessageOpts const &	opts
	)		`[private]`

Establishes a serial port connection with a NovAtel device.

It will create a connection set at the baud set by SetSerialBaudRate(), no parity, no flow control, and 8N1 bits, then it will call Configure() on that connection. After this method has succeeded, RedData() and Write() can be used to communicate with the device.

Parameters:

device	The device node to connect to; e. g., "/dev/ttyUSB0"
opts	A map of logs and periods the device should produce.

Returns:: false if it failed to create a connection, true otherwise.

Definition at line 574 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::Disconnect ( )

Disconnects from a connected device

Definition at line 151 of file novatel_gps.cpp.

std::string novatel_gps_driver::NovatelGps::ErrorMsg ( ) const [inline]

Returns:: The most recent error message

Definition at line 136 of file novatel_gps.h.

void novatel_gps_driver::NovatelGps::GenerateImuMessages ( ) [private]

Processes any messages in our corrimudata & inspva queues in order to generate Imu messages from them.

Definition at line 920 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetClockSteeringMessages ( std::vector< novatel_gps_msgs::ClockSteeringPtr > & clocksteering_msgs )

Provides any CLOCKSTEERING messages that have been received since the last time this was called.

Parameters:

[out] clocksteering_msgs New CLOCKSTEERING messages.

Definition at line 551 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetFixMessages ( std::vector< gps_common::GPSFixPtr > & fix_messages )

Provides any GPSFix messages that have been generated since the last time this was called.

Parameters:

[out] fix_messages New GPSFix messages.

Definition at line 322 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpggaMessages ( std::vector< novatel_gps_msgs::GpggaPtr > & gpgga_messages )

Provides any GPGGA messages that have been received since the last time this was called.

Parameters:

[out] gpgga_messages New GPGGA messages.

Definition at line 481 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpgsaMessages ( std::vector< novatel_gps_msgs::GpgsaPtr > & gpgsa_messages )

Provides any GPGSA messages that have been received since the last time this was called.

Parameters:

[out] gpgsa_messages New GPGSA messages.

Definition at line 488 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpgsvMessages ( std::vector< novatel_gps_msgs::GpgsvPtr > & gpgsv_messages )

Provides any GPGSV messages that have been received since the last time this was called.

Parameters:

[out] gpgsv_messages New GPGSV messages.

Definition at line 495 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGprmcMessages ( std::vector< novatel_gps_msgs::GprmcPtr > & gprmc_messages )

Provides any GPRMC messages that have been received since the last time this was called.

Parameters:

[out] gprmc_messages New GPRMC messages.

Definition at line 502 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetImuMessages ( std::vector< sensor_msgs::ImuPtr > & imu_messages )

Provides any Imu messages that have been generated since the last time this was called.

Parameters:

[out] imu_message New Imu messages.

Definition at line 913 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInscovMessages ( std::vector< novatel_gps_msgs::InscovPtr > & inscov_messages )

Provides any INSCOV messages that have been received since the last time this was called.

Parameters:

[out] inscov_messages New INSCOV messages.

Definition at line 509 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInspvaMessages ( std::vector< novatel_gps_msgs::InspvaPtr > & inspva_messages )

Provides any INSPVA messages that have been received since the last time this was called.

Parameters:

[out] inspva_messages New INSPVA messages.

Definition at line 516 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInsstdevMessages ( std::vector< novatel_gps_msgs::InsstdevPtr > & insstdev_messages )

Provides any INSSTDEV messages that have been received since the last time this was called.

Parameters:

[out] insstdev_messages New INSSTDEV messages.

Definition at line 523 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelCorrectedImuData ( std::vector< novatel_gps_msgs::NovatelCorrectedImuDataPtr > & imu_messages )

Provides any CORRIMUDATA messages that have been received since the last time this was called.

Parameters:

[out] imu_messages New CORRIMUDATA messages.

Definition at line 474 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelDualAntennaHeadingMessages ( std::vector< novatel_gps_msgs::NovatelDualAntennaHeadingPtr > & headings )

Provides any DUALANTENNAHEADING messages that have been received since the last time this was called.

Parameters:

[out] headings New DUALANTENNAHEADING messages.

Definition at line 468 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelHeading2Messages ( std::vector< novatel_gps_msgs::NovatelHeading2Ptr > & headings )

Provides any HEADING2 messages that have been received since the last time this was called.

Parameters:

[out] headings New HEADING2 messages.

Definition at line 462 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelPositions ( std::vector< novatel_gps_msgs::NovatelPositionPtr > & positions )

Provides any BESTPOS messages that have been received since the last time this was called.

Parameters:

[out] positions New BESTPOS messages.

Definition at line 294 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelUtmPositions ( std::vector< novatel_gps_msgs::NovatelUtmPositionPtr > & utm_positions )

Provides any BESTUTM messages that have been received since the last time this was called.

Parameters:

[out] positions New BESTUTM messages.

Definition at line 308 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelVelocities ( std::vector< novatel_gps_msgs::NovatelVelocityPtr > & velocities )

Provides any BESTVEL messages that have been received since the last time this was called.

Parameters:

[out] velocities New BESTVEL messages.

Definition at line 315 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelXYZPositions ( std::vector< novatel_gps_msgs::NovatelXYZPtr > & positions )

Provides any BESTXYZ messages that have been received since the last time this was called.

Parameters:

[out] positions New BESTXYZ messages.

Definition at line 301 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetRangeMessages ( std::vector< novatel_gps_msgs::RangePtr > & range_messages )

Provides any RANGE messages that have been received since the last time this was called.

Parameters:

[out] range_messages New RANGE messages.

Definition at line 530 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetTimeMessages ( std::vector< novatel_gps_msgs::TimePtr > & time_messages )

Provides any TIME messages that have been received since the last time this was called.

Parameters:

[out] time_messages New TIME messages.

Definition at line 537 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetTrackstatMessages ( std::vector< novatel_gps_msgs::TrackstatPtr > & trackstat_msgs )

Provides any TRACKSTAT messages that have been received since the last time this was called.

Parameters:

[out] trackstat_msgs New TRACKSTAT messages.

Definition at line 544 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::IsConnected ( ) [inline]

Returns:: true if we are connected to a NovAtel device, false otherwise.

Definition at line 262 of file novatel_gps.h.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseBinaryMessage	(	const BinaryMessage &	msg,
		const ros::Time &	stamp
	)		throw (ParseException) `[private]`

Converts a BinaryMessage object into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters:

[in]	msg	A valid binary message
[in]	stamp	A timestamp to set in the ROS message header.

Returns:: A value indicating the success of the operation.

Definition at line 1028 of file novatel_gps.cpp.

NovatelGps::ConnectionType novatel_gps_driver::NovatelGps::ParseConnection ( const std::string & connection ) [static]

Converts the strings "udp", "tcp", or "serial" into the corresponding enum values.

Parameters:

connection A string indicating the connection type.

Returns:: The corresponding enum value.

Definition at line 129 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseNmeaSentence	(	const NmeaSentence &	sentence,
		const ros::Time &	stamp,
		double	most_recent_utc_time
	)		throw (ParseException) `[private]`

Converts an NMEA sentence into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters:

[in]	sentence	A valid NMEA sentence
[in]	stamp	A timestamp to set in the ROS message header.
	most_recent_utc_time	The most recently received time in any GPGGA or GPRMC message; used to adjust timestamps in ROS message headers.

Returns:: A value indicating the success of the operation.

Definition at line 1151 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseNovatelSentence	(	const NovatelSentence &	sentence,
		const ros::Time &	stamp
	)		throw (ParseException) `[private]`

Converts a NovatelSentence object into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters:

[in]	msg	A valid ASCII NovAtel message message
[in]	stamp	A timestamp to set in the ROS message header.

Returns:: A value indicating the success of the operation.

Definition at line 1221 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ProcessData ( )

Processes any data that has been received from the device since the last time this message was called. May result in any number of messages being placed in the individual message buffers.

Returns:: A code indicating the success of reading from the device.

Definition at line 189 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ReadData ( ) [private]

Reads data from a connected NovAtel device. Any read data will be appended to data_buffer_.

Returns:: The status of the read operation.

Definition at line 723 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::SetImuRate	(	double	imu_rate,
		bool	force = `true`
	)

Sets the IMU rate; necessary for producing sensor_msgs/Imu messages.

Parameters:

imu_rate	The IMU rate in Hz.
force	If this value should be used instead of an autodetected one

Definition at line 1012 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::SetSerialBaud ( int32_t serial_baud )

Sets the serial baud rate; should be called before configuring a serial connection.

Parameters:

serial_baud_rate The serial baud rate.

Definition at line 1022 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Write ( const std::string & command )

Writes the given string of characters to a connected NovAtel device.

Parameters:

command A string to transmit.

Returns:: true if we successfully wrote all of the data, false otherwise.

Definition at line 1381 of file novatel_gps.cpp.

Member Data Documentation

bool novatel_gps_driver::NovatelGps::apply_vehicle_body_rotation_ [private]

Definition at line 507 of file novatel_gps.h.

BestposParser novatel_gps_driver::NovatelGps::bestpos_parser_ [private]

Definition at line 456 of file novatel_gps.h.

BestutmParser novatel_gps_driver::NovatelGps::bestutm_parser_ [private]

Definition at line 458 of file novatel_gps.h.

BestvelParser novatel_gps_driver::NovatelGps::bestvel_parser_ [private]

Definition at line 459 of file novatel_gps.h.

BestxyzParser novatel_gps_driver::NovatelGps::bestxyz_parser_ [private]

Definition at line 457 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::ClockSteeringPtr> novatel_gps_driver::NovatelGps::clocksteering_msgs_ [private]

Definition at line 476 of file novatel_gps.h.

ClockSteeringParser novatel_gps_driver::NovatelGps::clocksteering_parser_ [private]

Definition at line 462 of file novatel_gps.h.

ConnectionType novatel_gps_driver::NovatelGps::connection_ [private]

Definition at line 418 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelCorrectedImuDataPtr> novatel_gps_driver::NovatelGps::corrimudata_msgs_ [private]

Definition at line 477 of file novatel_gps.h.

CorrImuDataParser novatel_gps_driver::NovatelGps::corrimudata_parser_ [private]

Definition at line 463 of file novatel_gps.h.

std::queue<novatel_gps_msgs::NovatelCorrectedImuDataPtr> novatel_gps_driver::NovatelGps::corrimudata_queue_ [private]

Definition at line 500 of file novatel_gps.h.

std::vector<uint8_t> novatel_gps_driver::NovatelGps::data_buffer_ [private]

Variable-length buffer that has data continually appended to it until messages are parsed from it

Definition at line 440 of file novatel_gps.h.

constexpr uint16_t novatel_gps_driver::NovatelGps::DEFAULT_TCP_PORT = 3001 [static, private]

Definition at line 410 of file novatel_gps.h.

constexpr uint16_t novatel_gps_driver::NovatelGps::DEFAULT_UDP_PORT = 3002 [static, private]

Definition at line 411 of file novatel_gps.h.

constexpr double novatel_gps_driver::NovatelGps::DEGREES_TO_RADIANS = M_PI / 180.0 [static, private]

Definition at line 416 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelDualAntennaHeadingPtr> novatel_gps_driver::NovatelGps::dual_antenna_heading_msgs_ [private]

Definition at line 494 of file novatel_gps.h.

DualAntennaHeadingParser novatel_gps_driver::NovatelGps::dual_antenna_heading_parser_ [private]

Definition at line 461 of file novatel_gps.h.

std::string novatel_gps_driver::NovatelGps::error_msg_ [private]

Definition at line 420 of file novatel_gps.h.

NovatelMessageExtractor novatel_gps_driver::NovatelGps::extractor_ [private]

Used to extract messages from the incoming data stream.

Definition at line 453 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::gpgga_gprmc_sync_tol_

Definition at line 307 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpggaPtr> novatel_gps_driver::NovatelGps::gpgga_msgs_ [private]

Definition at line 478 of file novatel_gps.h.

GpggaParser novatel_gps_driver::NovatelGps::gpgga_parser_ [private]

Definition at line 464 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::gpgga_position_sync_tol_

Definition at line 308 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::Gpgga> novatel_gps_driver::NovatelGps::gpgga_sync_buffer_ [private]

Definition at line 479 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpgsaPtr> novatel_gps_driver::NovatelGps::gpgsa_msgs_ [private]

Definition at line 480 of file novatel_gps.h.

GpgsaParser novatel_gps_driver::NovatelGps::gpgsa_parser_ [private]

Definition at line 465 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpgsvPtr> novatel_gps_driver::NovatelGps::gpgsv_msgs_ [private]

Definition at line 481 of file novatel_gps.h.

GpgsvParser novatel_gps_driver::NovatelGps::gpgsv_parser_ [private]

Definition at line 466 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GprmcPtr> novatel_gps_driver::NovatelGps::gprmc_msgs_ [private]

Definition at line 482 of file novatel_gps.h.

GprmcParser novatel_gps_driver::NovatelGps::gprmc_parser_ [private]

Definition at line 467 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::Gprmc> novatel_gps_driver::NovatelGps::gprmc_sync_buffer_ [private]

Definition at line 483 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelHeading2Ptr> novatel_gps_driver::NovatelGps::heading2_msgs_ [private]

Definition at line 493 of file novatel_gps.h.

Heading2Parser novatel_gps_driver::NovatelGps::heading2_parser_ [private]

Definition at line 460 of file novatel_gps.h.

boost::circular_buffer<sensor_msgs::ImuPtr> novatel_gps_driver::NovatelGps::imu_msgs_ [private]

Definition at line 484 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::imu_rate_ [private]

Definition at line 504 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::imu_rate_forced_ [private]

Definition at line 423 of file novatel_gps.h.

constexpr double novatel_gps_driver::NovatelGps::IMU_TOLERANCE_S = 0.0002 [static, private]

Definition at line 415 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InscovPtr> novatel_gps_driver::NovatelGps::inscov_msgs_ [private]

Definition at line 485 of file novatel_gps.h.

InscovParser novatel_gps_driver::NovatelGps::inscov_parser_ [private]

Definition at line 468 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InspvaPtr> novatel_gps_driver::NovatelGps::inspva_msgs_ [private]

Definition at line 486 of file novatel_gps.h.

InspvaParser novatel_gps_driver::NovatelGps::inspva_parser_ [private]

Definition at line 469 of file novatel_gps.h.

std::queue<novatel_gps_msgs::InspvaPtr> novatel_gps_driver::NovatelGps::inspva_queue_ [private]

Definition at line 501 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InsstdevPtr> novatel_gps_driver::NovatelGps::insstdev_msgs_ [private]

Definition at line 487 of file novatel_gps.h.

InsstdevParser novatel_gps_driver::NovatelGps::insstdev_parser_ [private]

Definition at line 470 of file novatel_gps.h.

boost::asio::io_service novatel_gps_driver::NovatelGps::io_service_ [private]

Definition at line 432 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::is_connected_ [private]

Definition at line 422 of file novatel_gps.h.

std::vector<uint8_t> novatel_gps_driver::NovatelGps::last_tcp_packet_ [private]

Definition at line 450 of file novatel_gps.h.

novatel_gps_msgs::InscovPtr novatel_gps_driver::NovatelGps::latest_inscov_ [private]

Definition at line 503 of file novatel_gps.h.

novatel_gps_msgs::InsstdevPtr novatel_gps_driver::NovatelGps::latest_insstdev_ [private]

Definition at line 502 of file novatel_gps.h.

constexpr size_t novatel_gps_driver::NovatelGps::MAX_BUFFER_SIZE = 100 [static, private]

Definition at line 412 of file novatel_gps.h.

std::string novatel_gps_driver::NovatelGps::nmea_buffer_ [private]

Buffer containing incomplete data from message parsing.

Definition at line 442 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelPositionPtr> novatel_gps_driver::NovatelGps::novatel_positions_ [private]

Definition at line 488 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelUtmPositionPtr> novatel_gps_driver::NovatelGps::novatel_utm_positions_ [private]

Definition at line 490 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelVelocityPtr> novatel_gps_driver::NovatelGps::novatel_velocities_ [private]

Definition at line 491 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelXYZPtr> novatel_gps_driver::NovatelGps::novatel_xyz_positions_ [private]

Definition at line 489 of file novatel_gps.h.

pcap_t* novatel_gps_driver::NovatelGps::pcap_ [private]

pcap device for testing

Definition at line 447 of file novatel_gps.h.

char novatel_gps_driver::NovatelGps::pcap_errbuf_[MAX_BUFFER_SIZE] [private]

Definition at line 449 of file novatel_gps.h.

bpf_program novatel_gps_driver::NovatelGps::pcap_packet_filter_ [private]

Definition at line 448 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelPositionPtr> novatel_gps_driver::NovatelGps::position_sync_buffer_ [private]

Definition at line 492 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::RangePtr> novatel_gps_driver::NovatelGps::range_msgs_ [private]

Definition at line 495 of file novatel_gps.h.

RangeParser novatel_gps_driver::NovatelGps::range_parser_ [private]

Definition at line 471 of file novatel_gps.h.

constexpr uint32_t novatel_gps_driver::NovatelGps::SECONDS_PER_WEEK = 604800 [static, private]

Definition at line 414 of file novatel_gps.h.

swri_serial_util::SerialPort novatel_gps_driver::NovatelGps::serial_ [private]

Definition at line 429 of file novatel_gps.h.

int32_t novatel_gps_driver::NovatelGps::serial_baud_ [private]

Definition at line 428 of file novatel_gps.h.

boost::array<uint8_t, 10000> novatel_gps_driver::NovatelGps::socket_buffer_ [private]

Fixed-size buffer for reading directly from sockets.

Definition at line 444 of file novatel_gps.h.

constexpr size_t novatel_gps_driver::NovatelGps::SYNC_BUFFER_SIZE = 10 [static, private]

Definition at line 413 of file novatel_gps.h.

boost::asio::ip::tcp::socket novatel_gps_driver::NovatelGps::tcp_socket_ [private]

Definition at line 433 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::TimePtr> novatel_gps_driver::NovatelGps::time_msgs_ [private]

Definition at line 496 of file novatel_gps.h.

TimeParser novatel_gps_driver::NovatelGps::time_parser_ [private]

Definition at line 472 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::TrackstatPtr> novatel_gps_driver::NovatelGps::trackstat_msgs_ [private]

Definition at line 497 of file novatel_gps.h.

TrackstatParser novatel_gps_driver::NovatelGps::trackstat_parser_ [private]

Definition at line 473 of file novatel_gps.h.

boost::shared_ptr<boost::asio::ip::udp::endpoint> novatel_gps_driver::NovatelGps::udp_endpoint_ [private]

Definition at line 435 of file novatel_gps.h.

boost::shared_ptr<boost::asio::ip::udp::socket> novatel_gps_driver::NovatelGps::udp_socket_ [private]

Definition at line 434 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::utc_offset_ [private]

Definition at line 425 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::wait_for_position_

Definition at line 309 of file novatel_gps.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation