Defines | Functions | Variables
node.cpp File Reference
#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/TimeReference.h>
#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/String.h>
#include <tf/LinearMath/Quaternion.h>
#include <tf/transform_datatypes.h>
#include "dispatch.h"
#include <gps_common/conversions.h>
#include <arpa/inet.h>
Include dependency graph for node.cpp:

Go to the source code of this file.


#define GPS_EPOCH_OFFSET   315964800
#define GPS_LEAP_SECONDS   18
#define UINT16_MAX   (65535)


static double getZoneMeridian (const std::string &utm_zone)
static void handlePacket (const Packet *packet, ros::Publisher &pub_fix, ros::Publisher &pub_vel, ros::Publisher &pub_imu, ros::Publisher &pub_odom, ros::Publisher &pub_pos_type, ros::Publisher &pub_nav_status, ros::Publisher &pub_gps_time_ref, const std::string &frame_id_gps, const std::string &frame_id_vel, const std::string &frame_id_odom)
int main (int argc, char **argv)
static void mapLookup (const std::map< uint8_t, std::string > &map, uint8_t key, std::string &val)
static bool openSocket (const std::string &interface, const std::string &ip_addr, uint16_t port, int *fd_ptr, sockaddr_in *sock_ptr)
static int readSocket (int fd, unsigned int timeout, void *data, size_t size, sockaddr *source_ptr=NULL)
static double SQUARE (double x)
static double toUtcTime (uint32_t gps_minutes, uint16_t gps_ms)


static const std::map< uint8_t,
std::string > 
static const std::map< uint8_t,
std::string > 

Define Documentation

#define GPS_EPOCH_OFFSET   315964800

Definition at line 66 of file node.cpp.

#define GPS_LEAP_SECONDS   18

Definition at line 65 of file node.cpp.


Definition at line 122 of file node.cpp.

#define UINT16_MAX   (65535)

Definition at line 61 of file node.cpp.

Function Documentation

static double getZoneMeridian ( const std::string &  utm_zone) [inline, static]

Definition at line 178 of file node.cpp.

static void handlePacket ( const Packet packet,
ros::Publisher pub_fix,
ros::Publisher pub_vel,
ros::Publisher pub_imu,
ros::Publisher pub_odom,
ros::Publisher pub_pos_type,
ros::Publisher pub_nav_status,
ros::Publisher pub_gps_time_ref,
const std::string &  frame_id_gps,
const std::string &  frame_id_vel,
const std::string &  frame_id_odom 
) [inline, static]

Definition at line 189 of file node.cpp.

int main ( int  argc,
char **  argv 

Definition at line 464 of file node.cpp.

static void mapLookup ( const std::map< uint8_t, std::string > &  map,
uint8_t  key,
std::string &  val 
) [inline, static]

Definition at line 169 of file node.cpp.

static bool openSocket ( const std::string &  interface,
const std::string &  ip_addr,
uint16_t  port,
int *  fd_ptr,
sockaddr_in *  sock_ptr 
) [inline, static]

Definition at line 69 of file node.cpp.

static int readSocket ( int  fd,
unsigned int  timeout,
void *  data,
size_t  size,
sockaddr *  source_ptr = NULL 
) [inline, static]

Definition at line 95 of file node.cpp.

static double SQUARE ( double  x) [inline, static]

Definition at line 119 of file node.cpp.

static double toUtcTime ( uint32_t  gps_minutes,
uint16_t  gps_ms 
) [inline, static]

Definition at line 184 of file node.cpp.

Variable Documentation

const std::map<uint8_t, std::string> NAV_STATUS_MAP [static]
Initial value:
  {0, "INVALID"},
  {1, "IMU_ONLY"},
  {3, "LOCKING"},
  {4, "READY"},

Definition at line 161 of file node.cpp.

const std::map<uint8_t, std::string> POS_MODE_MAP [static]

Definition at line 125 of file node.cpp.

Author(s): Kevin Hallenbeck
autogenerated on Wed Jul 10 2019 03:30:07