Fake GPS plugin. More...
Inheritance diagram for mavros::extra_plugins::FakeGPSPlugin:
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | FakeGPSPlugin () |
| Subscriptions | get_subscriptions () override |
| void | initialize (UAS &uas_) override |
 Public Member Functions inherited from mavros::plugin::PluginBase | |
| virtual | ~PluginBase () |
Private Member Functions | |
| void | mocap_pose_cb (const geometry_msgs::PoseStamped::ConstPtr &req) |
| void | mocap_pose_cov_cb (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &req) |
| void | mocap_tf_cb (const geometry_msgs::TransformStamped::ConstPtr &trans) |
| void | send_fake_gps (const ros::Time &stamp, const Eigen::Vector3d &ecef_offset) |
| Send fake GPS coordinates through HIL_GPS or GPS_INPUT Mavlink msg. More... | |
| void | transform_cb (const geometry_msgs::TransformStamped &trans) |
| void | vision_cb (const geometry_msgs::PoseStamped::ConstPtr &req) |
| Private Member Functions inherited from mavros::plugin::TF2ListenerMixin< FakeGPSPlugin > | |
| void | tf2_start (const char *_thd_name, void(FakeGPSPlugin::*cbp)(const geometry_msgs::TransformStamped &)) |
| void | tf2_start (const char *_thd_name, message_filters::Subscriber< T > &topic_sub, void(FakeGPSPlugin::*cbp)(const geometry_msgs::TransformStamped &, const typename T::ConstPtr &)) |
Private Attributes | |
| GeographicLib::Geocentric | earth |
| Eigen::Vector3d | ecef_origin |
| geocentric origin [m] More... | |
| double | eph |
| double | epv |
| GPS_FIX_TYPE | fix_type |
| ros::NodeHandle | fp_nh |
| int | gps_id |
| ros::Rate | gps_rate |
| float | horiz_accuracy |
| ros::Time | last_pos_time |
| ros::Time | last_transform_stamp |
| Eigen::Vector3d | map_origin |
| geodetic origin [lla] More... | |
| ros::Subscriber | mocap_pose_cov_sub |
| ros::Subscriber | mocap_pose_sub |
| ros::Subscriber | mocap_tf_sub |
| bool | mocap_transform |
| set use of mocap data (TransformStamped msg) More... | |
| bool | mocap_withcovariance |
| ~mocap/pose uses PoseWithCovarianceStamped Message More... | |
| Eigen::Vector3d | old_ecef |
| previous geocentric position [m] More... | |
| double | old_stamp |
| previous stamp [s] More... | |
| int | satellites_visible |
| float | speed_accuracy |
| std::string | tf_child_frame_id |
| std::string | tf_frame_id |
| bool | tf_listen |
| set use of TF Listener data More... | |
| double | tf_rate |
| bool | use_hil_gps |
| set use of use_hil_gps MAVLink messages More... | |
| bool | use_mocap |
| set use of mocap data (PoseStamped msg) More... | |
| bool | use_vision |
| set use of vision data More... | |
| float | vert_accuracy |
| ros::Subscriber | vision_pose_sub |
| Private Attributes inherited from mavros::plugin::TF2ListenerMixin< FakeGPSPlugin > | |
| std::string | tf_thd_name |
| std::thread | tf_thread |
Friends | |
| class | TF2ListenerMixin |
Additional Inherited Members | |
| Public Types inherited from mavros::plugin::PluginBase | |
| typedef boost::shared_ptr< PluginBase const > | ConstPtr |
| typedef mavconn::MAVConnInterface::ReceivedCb | HandlerCb |
| typedef std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb > | HandlerInfo |
| typedef boost::shared_ptr< PluginBase > | Ptr |
| typedef std::vector< HandlerInfo > | Subscriptions |
| Protected Member Functions inherited from mavros::plugin::PluginBase | |
| virtual void | capabilities_cb (UAS::MAV_CAP capabilities) |
| virtual void | connection_cb (bool connected) |
| void | enable_capabilities_cb () |
| void | enable_connection_cb () |
| HandlerInfo | make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing)) |
| HandlerInfo | make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &)) |
| PluginBase () | |
| Protected Attributes inherited from mavros::plugin::PluginBase | |
| UAS * | m_uas |
Detailed Description
Fake GPS plugin.
Sends fake GPS from local position estimation source data (motion capture, vision) to FCU - processed in HIL mode or out of it if parameter MAV_USEHILGPS is set on PX4 Pro Autopilot Firmware; Ardupilot Firmware already supports it without a flag set.
Definition at line 50 of file fake_gps.cpp.
The documentation for this class was generated from the following file: