Global position plugin. More...
Inheritance diagram for mavplugin::GlobalPositionPlugin:
Public Member Functions | |
| const message_map | get_rx_handlers () |
| Return map with message rx handlers. | |
| GlobalPositionPlugin () | |
| void | initialize (UAS &uas_) |
| Plugin initializer. | |
Private Member Functions | |
| template<typename MsgT > | |
| void | fill_lla (MsgT &msg, sensor_msgs::NavSatFix::Ptr fix) |
| void | fill_unknown_cov (sensor_msgs::NavSatFix::Ptr fix) |
| void | gps_diag_run (diagnostic_updater::DiagnosticStatusWrapper &stat) |
| void | handle_global_position_int (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | handle_gps_raw_int (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
Private Attributes | |
| std::string | frame_id |
| frame for topic headers | |
| ros::Publisher | gp_fix_pub |
| ros::Publisher | gp_hdg_pub |
| ros::NodeHandle | gp_nh |
| ros::Publisher | gp_odom_pub |
| ros::Publisher | gp_rel_alt_pub |
| ros::Publisher | raw_fix_pub |
| ros::Publisher | raw_vel_pub |
| double | rot_cov |
| std::string | tf_child_frame_id |
| frame for TF and Pose | |
| std::string | tf_frame_id |
| origin for TF | |
| bool | tf_send |
| UAS * | uas |
Detailed Description
Global position plugin.
Publishes global position. Convertion from GPS to UTF allows publishing local position to TF and PoseWithCovarianceStamped.
Definition at line 42 of file global_position.cpp.
The documentation for this class was generated from the following file: