ublox_node::HpgRovProduct Class Reference

Implements functions for High Precision GNSS Rover devices. More...

#include <node.h>

Inheritance diagram for ublox_node::HpgRovProduct:

List of all members.

Public Member Functions
bool	configureUblox ()
	Configure rover settings.
void	getRosParams ()
	Get the ROS parameters specific to the Rover configuration.
void	initializeRosDiagnostics ()
	Add diagnostic updaters for rover GNSS status, including status of RTCM messages.
void	subscribe ()
	Subscribe to Rover messages, such as NavRELPOSNED.
Static Public Attributes
static constexpr double	kRtcmFreqMax = 10
	Diagnostic updater: RTCM topic frequency max [Hz].
static constexpr double	kRtcmFreqMin = 1
	Diagnostic updater: RTCM topic frequency min [Hz].
static constexpr double	kRtcmFreqTol = 0.1
	Diagnostic updater: RTCM topic frequency tolerance [%].
static constexpr int	kRtcmFreqWindow = 25
	Diagnostic updater: RTCM topic frequency window [num messages].
Protected Member Functions
void	callbackNavRelPosNed (const ublox_msgs::NavRELPOSNED &m)
	Set the last received message and call rover diagnostic updater.
void	carrierPhaseDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Update the rover diagnostics, including the carrier phase solution status (float or fixed).
Protected Attributes
uint8_t	dgnss_mode_
	The DGNSS mode.
UbloxTopicDiagnostic	freq_rtcm_
	The RTCM topic frequency diagnostic updater.
ublox_msgs::NavRELPOSNED	last_rel_pos_
	Last relative position (used for diagnostic updater)

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Detailed Description

Implements functions for High Precision GNSS Rover devices.

Definition at line 1236 of file node.h.

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Member Function Documentation

void HpgRovProduct::callbackNavRelPosNed

(

const ublox_msgs::NavRELPOSNED &

m

)

[protected]

Set the last received message and call rover diagnostic updater.

Publish received NavRELPOSNED messages if enabled

Definition at line 1688 of file node.cpp.

void HpgRovProduct::carrierPhaseDiagnostics

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

[protected]

Update the rover diagnostics, including the carrier phase solution status (float or fixed).

Definition at line 1654 of file node.cpp.

bool HpgRovProduct::configureUblox

(

)

[virtual]

Configure rover settings.

Configure the DGNSS mode.

Returns:

true if configured correctly, false otherwise

Implements ublox_node::ComponentInterface.

Definition at line 1630 of file node.cpp.

void HpgRovProduct::getRosParams

(

)

[virtual]

Get the ROS parameters specific to the Rover configuration.

Get the DGNSS mode.

Implements ublox_node::ComponentInterface.

Definition at line 1624 of file node.cpp.

void HpgRovProduct::initializeRosDiagnostics

(

)

[virtual]

Add diagnostic updaters for rover GNSS status, including status of RTCM messages.

Implements ublox_node::ComponentInterface.

Definition at line 1645 of file node.cpp.

void HpgRovProduct::subscribe

(

)

[virtual]

Subscribe to Rover messages, such as NavRELPOSNED.

Implements ublox_node::ComponentInterface.

Definition at line 1637 of file node.cpp.

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Member Data Documentation

uint8_t ublox_node::HpgRovProduct::dgnss_mode_ [protected]

The DGNSS mode.

see CfgDGNSS message for possible values

Definition at line 1294 of file node.h.

UbloxTopicDiagnostic ublox_node::HpgRovProduct::freq_rtcm_ [protected]

The RTCM topic frequency diagnostic updater.

Definition at line 1297 of file node.h.

constexpr double ublox_node::HpgRovProduct::kRtcmFreqMax = 10 [static]

Diagnostic updater: RTCM topic frequency max [Hz].

Definition at line 1242 of file node.h.

constexpr double ublox_node::HpgRovProduct::kRtcmFreqMin = 1 [static]

Diagnostic updater: RTCM topic frequency min [Hz].

Definition at line 1240 of file node.h.

constexpr double ublox_node::HpgRovProduct::kRtcmFreqTol = 0.1 [static]

Diagnostic updater: RTCM topic frequency tolerance [%].

Definition at line 1244 of file node.h.

constexpr int ublox_node::HpgRovProduct::kRtcmFreqWindow = 25 [static]

Diagnostic updater: RTCM topic frequency window [num messages].

Definition at line 1246 of file node.h.

ublox_msgs::NavRELPOSNED ublox_node::HpgRovProduct::last_rel_pos_ [protected]

Last relative position (used for diagnostic updater)

Definition at line 1290 of file node.h.

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

• node.h
• node.cpp