Inheritance diagram for novatel_gps_driver::NovatelGpsNodelet:

Public Member Functions
	NovatelGpsNodelet ()
void	onInit ()
void	Spin ()
void	SyncCallback (const std_msgs::TimeConstPtr &sync)
	~NovatelGpsNodelet ()
Private Member Functions
void	CalculateTimeSync ()
void	CheckDeviceForData ()
	Reads data from the device and publishes any parsed messages.
sensor_msgs::NavSatFixPtr	ConvertGpsFixToNavSatFix (const gps_common::GPSFixPtr &msg)
void	DataDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	DeviceDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	FixDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	GpsDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	RateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
bool	resetService (novatel_gps_msgs::NovatelFRESET::Request &req, novatel_gps_msgs::NovatelFRESET::Response &res)
	Service request to reset the gps through FRESET.
void	SyncDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
Private Attributes
ros::Publisher	clocksteering_pub_
NovatelGps::ConnectionType	connection_
std::string	connection_type_
	The connection type, ("serial", "tcp", or "udp")
std::string	device_
	The device identifier e.g. /dev/ttyUSB0.
int32_t	device_errors_
int32_t	device_interrupts_
int32_t	device_timeouts_
diagnostic_updater::Updater	diagnostic_updater_
std::string	error_msg_
double	expected_rate_
ros::Publisher	fix_pub_
std::string	frame_id_
ros::Publisher	gpgga_pub_
ros::Publisher	gpgsa_pub_
ros::Publisher	gpgsv_pub_
ros::Publisher	gprmc_pub_
NovatelGps	gps_
int32_t	gps_insufficient_data_warnings_
int32_t	gps_parse_failures_
ros::Publisher	gps_pub_
std::string	hw_id_
std::string	imu_frame_id_
ros::Publisher	imu_pub_
double	imu_rate_
	The rate at which IMU measurements will be published, in Hz.
double	imu_sample_rate_
	How frequently the device samples the IMU, in Hz.
ros::Publisher	inscov_pub_
ros::Publisher	inspva_pub_
ros::Publisher	insstdev_pub_
novatel_gps_msgs::NovatelPositionPtr	last_novatel_position_
ros::Time	last_published_
ros::Time	last_sync_
int32_t	measurement_count_
boost::circular_buffer< ros::Time >	msg_times_
	Buffer of gps message time stamps.
boost::mutex	mutex_
ros::Publisher	novatel_dual_antenna_heading_pub_
ros::Publisher	novatel_heading2_pub_
ros::Publisher	novatel_imu_pub_
ros::Publisher	novatel_position_pub_
ros::Publisher	novatel_utm_pub_
ros::Publisher	novatel_velocity_pub_
ros::Publisher	novatel_xyz_position_pub_
stats::accumulator_set< float, stats::stats< stats::tag::max, stats::tag::min, stats::tag::mean, stats::tag::variance > >	offset_stats_
	Stats on time offset.
double	polling_period_
bool	publish_clock_steering_
bool	publish_diagnostics_
bool	publish_gpgsa_
bool	publish_gpgsv_
bool	publish_imu_messages_
bool	publish_nmea_messages_
bool	publish_novatel_dual_antenna_heading_
bool	publish_novatel_heading2_
bool	publish_novatel_positions_
bool	publish_novatel_utm_positions_
bool	publish_novatel_velocity_
bool	publish_novatel_xyz_positions_
bool	publish_range_messages_
int32_t	publish_rate_warnings_
bool	publish_sync_diagnostic_
bool	publish_time_messages_
bool	publish_trackstat_
ros::Publisher	range_pub_
double	reconnect_delay_s_
ros::ServiceServer	reset_service_
stats::accumulator_set< float, stats::stats < stats::tag::rolling_mean > >	rolling_offset_
	Rolling mean of time offset.
int32_t	serial_baud_
	The baud rate used for serial connection.
bool	span_frame_to_ros_frame_
swri::Subscriber	sync_sub_
	Subscriber to listen for sync times from a DIO.
boost::circular_buffer< ros::Time >	sync_times_
	Buffer of sync message time stamps.
boost::thread	thread_
ros::Publisher	time_pub_
ros::Publisher	trackstat_pub_
bool	use_binary_messages_

Detailed Description

Definition at line 172 of file novatel_gps_nodelet.cpp.

Constructor & Destructor Documentation

novatel_gps_driver::NovatelGpsNodelet::NovatelGpsNodelet ( ) [inline]

Definition at line 175 of file novatel_gps_nodelet.cpp.

novatel_gps_driver::NovatelGpsNodelet::~NovatelGpsNodelet ( ) [inline]

Definition at line 216 of file novatel_gps_nodelet.cpp.

Member Function Documentation

void novatel_gps_driver::NovatelGpsNodelet::CalculateTimeSync ( ) [inline, private]

Updates the time sync offsets by matching up timesync messages to gps messages and calculating the time offset between them.

Index of last synced timesync msg

Index of last synced gps msg

Definition at line 1044 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::CheckDeviceForData ( ) [inline, private]

Reads data from the device and publishes any parsed messages.

Note that when reading from the device, this will block until data is available.

Definition at line 671 of file novatel_gps_nodelet.cpp.

sensor_msgs::NavSatFixPtr novatel_gps_driver::NovatelGpsNodelet::ConvertGpsFixToNavSatFix ( const gps_common::GPSFixPtr & msg ) [inline, private]

Definition at line 986 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::DataDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1219 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::DeviceDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1171 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::FixDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1086 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::GpsDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1201 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::onInit ( ) [inline, virtual]

Init method reads parameters and sets up publishers and subscribers. It does not connect to the device.

Implements nodelet::Nodelet.

Definition at line 225 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::RateDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1244 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::resetService	(	novatel_gps_msgs::NovatelFRESET::Request &	req,
		novatel_gps_msgs::NovatelFRESET::Response &	res
	)		`[inline, private]`

Service request to reset the gps through FRESET.

Definition at line 642 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::Spin ( ) [inline]

Main spin loop connects to device, then reads data from it and publishes messages.

Definition at line 393 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::SyncCallback ( const std_msgs::TimeConstPtr & sync ) [inline]

Definition at line 383 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::SyncDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1148 of file novatel_gps_nodelet.cpp.

Member Data Documentation

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::clocksteering_pub_ [private]

Definition at line 575 of file novatel_gps_nodelet.cpp.

NovatelGps::ConnectionType novatel_gps_driver::NovatelGpsNodelet::connection_ [private]

Definition at line 599 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::connection_type_ [private]

The connection type, ("serial", "tcp", or "udp")

Definition at line 547 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::device_ [private]

The device identifier e.g. /dev/ttyUSB0.

Definition at line 545 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_errors_ [private]

Definition at line 628 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_interrupts_ [private]

Definition at line 627 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_timeouts_ [private]

Definition at line 626 of file novatel_gps_nodelet.cpp.

diagnostic_updater::Updater novatel_gps_driver::NovatelGpsNodelet::diagnostic_updater_ [private]

Definition at line 623 of file novatel_gps_nodelet.cpp.

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

Definition at line 622 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::expected_rate_ [private]

Definition at line 625 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::fix_pub_ [private]

Definition at line 576 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::frame_id_ [private]

Definition at line 637 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgga_pub_ [private]

Definition at line 589 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgsa_pub_ [private]

Definition at line 591 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgsv_pub_ [private]

Definition at line 590 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gprmc_pub_ [private]

Definition at line 592 of file novatel_gps_nodelet.cpp.

NovatelGps novatel_gps_driver::NovatelGpsNodelet::gps_ [private]

Definition at line 600 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::gps_insufficient_data_warnings_ [private]

Definition at line 630 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::gps_parse_failures_ [private]

Definition at line 629 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gps_pub_ [private]

Definition at line 577 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::hw_id_ [private]

Definition at line 624 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::imu_frame_id_ [private]

Definition at line 636 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::imu_pub_ [private]

Definition at line 578 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::imu_rate_ [private]

The rate at which IMU measurements will be published, in Hz.

Definition at line 554 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::imu_sample_rate_ [private]

How frequently the device samples the IMU, in Hz.

Definition at line 556 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::inscov_pub_ [private]

Definition at line 579 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::inspva_pub_ [private]

Definition at line 580 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::insstdev_pub_ [private]

Definition at line 581 of file novatel_gps_nodelet.cpp.

novatel_gps_msgs::NovatelPositionPtr novatel_gps_driver::NovatelGpsNodelet::last_novatel_position_ [private]

Definition at line 634 of file novatel_gps_nodelet.cpp.

ros::Time novatel_gps_driver::NovatelGpsNodelet::last_published_ [private]

Definition at line 633 of file novatel_gps_nodelet.cpp.

ros::Time novatel_gps_driver::NovatelGpsNodelet::last_sync_ [private]

Definition at line 607 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::measurement_count_ [private]

Definition at line 632 of file novatel_gps_nodelet.cpp.

boost::circular_buffer<ros::Time> novatel_gps_driver::NovatelGpsNodelet::msg_times_ [private]

Buffer of gps message time stamps.

Definition at line 611 of file novatel_gps_nodelet.cpp.

boost::mutex novatel_gps_driver::NovatelGpsNodelet::mutex_ [private]

Definition at line 603 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_dual_antenna_heading_pub_ [private]

Definition at line 588 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_heading2_pub_ [private]

Definition at line 587 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_imu_pub_ [private]

Definition at line 582 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_position_pub_ [private]

Definition at line 583 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_utm_pub_ [private]

Definition at line 585 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_velocity_pub_ [private]

Definition at line 586 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_xyz_position_pub_ [private]

Definition at line 584 of file novatel_gps_nodelet.cpp.

stats::accumulator_set<float, stats::stats< stats::tag::max, stats::tag::min, stats::tag::mean, stats::tag::variance> > novatel_gps_driver::NovatelGpsNodelet::offset_stats_ [private]

Stats on time offset.

Definition at line 617 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::polling_period_ [private]

Definition at line 550 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_clock_steering_ [private]

Definition at line 558 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_diagnostics_ [private]

Definition at line 570 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_gpgsa_ [private]

Definition at line 551 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_gpgsv_ [private]

Definition at line 552 of file novatel_gps_nodelet.cpp.