Public Member Functions | Private Member Functions | Private Attributes
mavplugin::GlobalPositionPlugin Class Reference

Global position plugin. More...

Inheritance diagram for mavplugin::GlobalPositionPlugin:
Inheritance graph

List of all members.

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

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:

Author(s): Vladimir Ermakov
autogenerated on Thu Feb 9 2017 04:00:18