GPS RTK plugin. More...
Inheritance diagram for mavros::extra_plugins::GpsRtkPlugin:
Public Member Functions | |
| Subscriptions | get_subscriptions () override |
| GpsRtkPlugin () | |
| void | initialize (UAS &uas_) override |
 Public Member Functions inherited from mavros::plugin::PluginBase | |
| virtual | ~PluginBase () |
Private Member Functions | |
| void | handle_baseline_msg (const mavlink::mavlink_message_t *msg, mavlink::common::msg::GPS_RTK &rtk_bsln) |
| Publish GPS_RTK message (MAvlink Common) received from FCU. The message is already decoded by Mavlink, we only need to convert to ROS. Details and units: https://mavlink.io/en/messages/common.html#GPS_RTK. More... | |
| void | rtcm_cb (const mavros_msgs::RTCM::ConstPtr &msg) |
| Handle mavros_msgs::RTCM message It converts the message to the MAVLink GPS_RTCM_DATA message for GPS injection. Message specification: https://mavlink.io/en/messages/common.html#GPS_RTCM_DATA. More... | |
Private Attributes | |
| ros::NodeHandle | gps_rtk_nh |
| ros::Subscriber | gps_rtk_sub |
| mavros_msgs::RTKBaseline | rtk_baseline_ |
| ros::Publisher | rtk_baseline_pub_ |
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
GPS RTK plugin.
- Publish the RTCM messages from ROS to the FCU
- Publish RTK baseline data from the FCU to ROS
Definition at line 30 of file gps_rtk.cpp.
The documentation for this class was generated from the following file: