Classes
class	AdrUdrProduct
	Implements functions for Automotive Dead Reckoning (ADR) and Untethered Dead Reckoning (UDR) Devices. More...
class	ComponentInterface
	This interface is used to add functionality to the main node. More...
struct	FixDiagnostic
	Topic diagnostics for fix / fix_velocity messages. More...
class	FtsProduct
	Implements functions for FTS products. Currently unimplemented. More...
class	HpgRefProduct
	Implements functions for High Precision GNSS Reference station devices. More...
class	HpgRovProduct
	Implements functions for High Precision GNSS Rover devices. More...
class	RawDataProduct
	Implements functions for Raw Data products. More...
class	RawDataStreamPa
	Implements functions for raw data stream. More...
class	TimProduct
	Implements functions for Time Sync products. More...
class	UbloxFirmware
	This abstract class represents a firmware component. More...
class	UbloxFirmware6
	Implements functions for firmware version 6. More...
class	UbloxFirmware7
	Implements functions for firmware version 7. More...
class	UbloxFirmware7Plus
class	UbloxFirmware8
	Implements functions for firmware version 8. More...
class	UbloxNode
	This class represents u-blox ROS node for all firmware and product versions. More...
struct	UbloxTopicDiagnostic
	Topic diagnostics for u-blox messages. More...
Typedefs
typedef boost::shared_ptr < ComponentInterface >	ComponentPtr
Functions
template<typename V , typename T >
void	checkMin (V val, T min, std::string name)
	Check that the parameter is above the minimum.
template<typename V , typename T >
void	checkRange (V val, T min, T max, std::string name)
	Check that the parameter is in the range.
template<typename V , typename T >
void	checkRange (std::vector< V > val, T min, T max, std::string name)
	Check that the elements of the vector are in the range.
uint8_t	fixModeFromString (const std::string &mode)
	Determine fix mode from human-readable string.
template<typename I >
bool	getRosInt (const std::string &key, I &u)
	Get a integer (size 8 or 16) value from the parameter server.
template<typename U , typename V >
void	getRosInt (const std::string &key, U &u, V default_val)
	Get an integer value (size 8 or 16) from the parameter server.
template<typename I >
bool	getRosInt (const std::string &key, std::vector< I > &i)
	Get a int (size 8 or 16) vector from the parameter server.
template<typename U >
bool	getRosUint (const std::string &key, U &u)
	Get a unsigned integer value from the parameter server.
template<typename U , typename V >
void	getRosUint (const std::string &key, U &u, V default_val)
	Get a unsigned integer value from the parameter server.
template<typename U >
bool	getRosUint (const std::string &key, std::vector< U > &u)
	Get a unsigned integer vector from the parameter server.
uint8_t	modelFromString (const std::string &model)
	Determine dynamic model from human-readable string.
template<typename MessageT >
void	publish (const MessageT &m, const std::string &topic)
	Publish a ROS message of type MessageT.
bool	supportsGnss (std::string gnss)
Variables
bool	config_on_startup_flag_
	Flag for enabling configuration on startup.
std::map< std::string, bool >	enabled
	Whether or not to publish the given ublox message.
int	fix_status_service
std::string	frame_id
	The ROS frame ID of this device.
FixDiagnostic	freq_diag
	fix frequency diagnostic updater
ublox_gps::Gps	gps
	Handles communication with the U-Blox Device.
static constexpr uint16_t	kDefaultMeasPeriod = 250
	Default measurement period for HPG devices.
static constexpr uint32_t	kNavSvInfoSubscribeRate = 20
	Subscribe Rate for u-blox SV Info messages.
static constexpr uint32_t	kROSQueueSize = 1
	Queue size for ROS publishers.
static constexpr uint32_t	kSubscribeRate = 1
	Default subscribe Rate to u-blox messages [Hz].
uint16_t	meas_rate
	The measurement [ms], see CfgRate.msg.
uint16_t	nav_rate
	Navigation rate in measurement cycles, see CfgRate.msg.
boost::shared_ptr < ros::NodeHandle >	nh
	Node Handle for GPS node.
std::vector< uint8_t >	rtcm_ids
	IDs of RTCM out messages to configure.
std::vector< uint8_t >	rtcm_rates
	Rates of RTCM out messages. Size must be the same as rtcm_ids.
std::set< std::string >	supported
	Which GNSS are supported by the device.
boost::shared_ptr < diagnostic_updater::Updater >	updater
	ROS diagnostic updater.

Detailed Description

This namespace is for the ROS u-blox node and handles anything regarding ROS parameters, message passing, diagnostics, etc.

Typedef Documentation

typedef boost::shared_ptr<ComponentInterface> ublox_node::ComponentPtr

Definition at line 464 of file node.h.

Function Documentation

template<typename V , typename T >

void ublox_node::checkMin	(	V	val,
		T	min,
		std::string	name
	)

Check that the parameter is above the minimum.

Parameters:

val	the value to check
min	the minimum for this value
name	the name of the parameter

Exceptions:

std::runtime_error if it is below the minimum

Definition at line 255 of file node.h.

template<typename V , typename T >

void ublox_node::checkRange	(	V	val,
		T	min,
		T	max,
		std::string	name
	)

Check that the parameter is in the range.

Parameters:

val	the value to check
min	the minimum for this value
max	the maximum for this value
name	the name of the parameter

Exceptions:

std::runtime_error if it is out of bounds

Definition at line 272 of file node.h.

template<typename V , typename T >

void ublox_node::checkRange	(	std::vector< V >	val,
		T	min,
		T	max,
		std::string	name
	)

Check that the elements of the vector are in the range.

Parameters:

val	the vector to check
min	the minimum for this value
max	the maximum for this value
name	the name of the parameter

Exceptions:

std::runtime_error value it is out of bounds

Definition at line 290 of file node.h.

uint8_t ublox_node::fixModeFromString ( const std::string & mode )

Determine fix mode from human-readable string.

Parameters:

mode	One of the following (case-insensitive): 2d 3d auto

Returns:: FixMode

Exceptions:

std::runtime_error on invalid argument.

Definition at line 67 of file node.cpp.

template<typename I >

bool ublox_node::getRosInt	(	const std::string &	key,
		I &	u
	)

Get a integer (size 8 or 16) value from the parameter server.

Parameters:

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.

Exceptions:

std::runtime_error if the parameter is out of bounds

Returns:: true if found, false if not found.

Definition at line 360 of file node.h.

template<typename U , typename V >

void ublox_node::getRosInt	(	const std::string &	key,
		U &	u,
		V	default_val
	)

Get an integer value (size 8 or 16) from the parameter server.

Parameters:

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.
val	value to use if the server doesn't contain this parameter.

Exceptions:

std::runtime_error if the parameter is out of bounds

Returns:: true if found, false if not found.

Definition at line 381 of file node.h.

template<typename I >

bool ublox_node::getRosInt	(	const std::string &	key,
		std::vector< I > &	i
	)

Get a int (size 8 or 16) vector from the parameter server.

Exceptions:

std::runtime_error if the parameter is out of bounds.

Returns:: true if found, false if not found.

Definition at line 392 of file node.h.

template<typename U >

bool ublox_node::getRosUint	(	const std::string &	key,
		U &	u
	)

Get a unsigned integer value from the parameter server.

Parameters:

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.

Exceptions:

std::runtime_error if the parameter is out of bounds

Returns:: true if found, false if not found.

Definition at line 306 of file node.h.

template<typename U , typename V >

void ublox_node::getRosUint	(	const std::string &	key,
		U &	u,
		V	default_val
	)

Get a unsigned integer value from the parameter server.

Parameters:

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.
val	value to use if the server doesn't contain this parameter.

Exceptions:

std::runtime_error if the parameter is out of bounds

Returns:: true if found, false if not found.

Definition at line 327 of file node.h.

template<typename U >

bool ublox_node::getRosUint	(	const std::string &	key,
		std::vector< U > &	u
	)

Get a unsigned integer vector from the parameter server.

Exceptions:

std::runtime_error if the parameter is out of bounds.

Returns:: true if found, false if not found.

Definition at line 338 of file node.h.

uint8_t ublox_node::modelFromString ( const std::string & model )

Determine dynamic model from human-readable string.

Parameters:

model

One of the following (case-insensitive):

portable
stationary
pedestrian
automotive
sea
airborne1
airborne2
airborne4
wristwatch

Returns:: DynamicModel

Exceptions:

std::runtime_error on invalid argument.

Definition at line 40 of file node.cpp.

template<typename MessageT >

void ublox_node::publish	(	const MessageT &	m,
		const std::string &	topic
	)

Publish a ROS message of type MessageT.

This function should be used to publish all messages which are simply read from u-blox and published.

Parameters:

m	the message to publish
topic	the topic to publish the message on

Definition at line 415 of file node.h.

bool ublox_node::supportsGnss ( std::string gnss )

Parameters:

gnss	The string representing the GNSS. Refer MonVER message protocol. i.e. GPS, GLO, GAL, BDS, QZSS, SBAS, IMES

Returns:: true if the device supports the given GNSS

Definition at line 426 of file node.h.

Variable Documentation

bool ublox_node::config_on_startup_flag_

Flag for enabling configuration on startup.

Definition at line 125 of file node.h.

std::map<std::string, bool> ublox_node::enabled

Whether or not to publish the given ublox message.

key is the message name (all lowercase) without firmware version numbers (e.g. NavPVT instead of NavPVT7). Value indicates whether or not to enable the message.

Definition at line 110 of file node.h.

int ublox_node::fix_status_service

The fix status service type, set in the Firmware Component based on the enabled GNSS

Definition at line 115 of file node.h.

std::string ublox_node::frame_id

The ROS frame ID of this device.

Definition at line 112 of file node.h.

FixDiagnostic ublox_node::freq_diag

fix frequency diagnostic updater

Definition at line 217 of file node.h.

ublox_gps::Gps ublox_node::gps

Handles communication with the U-Blox Device.