Inheritance diagram for novatel_gps_driver::NovatelGpsNodelet:

Public Member Functions
	NovatelGpsNodelet ()

void	onInit () override

void	Spin ()

void	SyncCallback (const std_msgs::TimeConstPtr &sync)

	~NovatelGpsNodelet () override

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Private Member Functions
void	CalculateTimeSync ()

void	CheckDeviceForData ()
	Reads data from the device and publishes any parsed messages. More...

sensor_msgs::NavSatFixPtr	ConvertGpsFixToNavSatFix (const gps_common::GPSFixPtr &msg)

void	DataDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)

void	DeviceDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)

void	FixDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)

void	GpsDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)

void	RateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)

bool	resetService (novatel_gps_msgs::NovatelFRESET::Request &req, novatel_gps_msgs::NovatelFRESET::Response &res)
	Service request to reset the gps through FRESET. More...

void	SyncDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)

Private Attributes
ros::Publisher	clocksteering_pub_

NovatelGps::ConnectionType	connection_

std::string	connection_type_
	The connection type, ("serial", "tcp", or "udp") More...

std::string	device_
	The device identifier e.g. /dev/ttyUSB0. More...

int32_t	device_errors_

int32_t	device_interrupts_

int32_t	device_timeouts_

diagnostic_updater::Updater	diagnostic_updater_

std::string	error_msg_

double	expected_rate_

ros::Publisher	fix_pub_

std::string	frame_id_

ros::Publisher	gpgga_pub_

ros::Publisher	gpgsa_pub_

ros::Publisher	gpgsv_pub_

ros::Publisher	gphdt_pub_

ros::Publisher	gprmc_pub_

NovatelGps	gps_

int32_t	gps_insufficient_data_warnings_

int32_t	gps_parse_failures_

ros::Publisher	gps_pub_

std::string	hw_id_

std::string	imu_frame_id_

ros::Publisher	imu_pub_

double	imu_rate_
	The rate at which IMU measurements will be published, in Hz. More...

double	imu_sample_rate_
	How frequently the device samples the IMU, in Hz. More...

ros::Publisher	inscov_pub_

ros::Publisher	inspva_pub_

ros::Publisher	inspvax_pub_

ros::Publisher	insstdev_pub_

novatel_gps_msgs::NovatelPositionPtr	last_novatel_position_

ros::Time	last_published_

ros::Time	last_sync_

int32_t	measurement_count_

boost::circular_buffer< ros::Time >	msg_times_
	Buffer of gps message time stamps. More...

boost::mutex	mutex_

ros::Publisher	novatel_dual_antenna_heading_pub_

ros::Publisher	novatel_heading2_pub_

ros::Publisher	novatel_imu_pub_

ros::Publisher	novatel_position_pub_

ros::Publisher	novatel_psrdop2_pub_

ros::Publisher	novatel_utm_pub_

ros::Publisher	novatel_velocity_pub_

ros::Publisher	novatel_xyz_position_pub_

stats::accumulator_set< float, stats::stats< stats::tag::max, stats::tag::min, stats::tag::mean, stats::tag::variance > >	offset_stats_
	Stats on time offset. More...

double	polling_period_

bool	publish_clock_steering_

bool	publish_diagnostics_

bool	publish_gpgsa_

bool	publish_gpgsv_

bool	publish_gphdt_

bool	publish_imu_messages_

bool	publish_invalid_gpsfix_

bool	publish_nmea_messages_

bool	publish_novatel_dual_antenna_heading_

bool	publish_novatel_heading2_

bool	publish_novatel_positions_

bool	publish_novatel_psrdop2_

bool	publish_novatel_utm_positions_

bool	publish_novatel_velocity_

bool	publish_novatel_xyz_positions_

bool	publish_range_messages_

int32_t	publish_rate_warnings_

bool	publish_sync_diagnostic_

bool	publish_time_messages_

bool	publish_trackstat_

ros::Publisher	range_pub_

double	reconnect_delay_s_

ros::ServiceServer	reset_service_

stats::accumulator_set< float, stats::stats< stats::tag::rolling_mean > >	rolling_offset_
	Rolling mean of time offset. More...

int32_t	serial_baud_
	The baud rate used for serial connection. More...

bool	span_frame_to_ros_frame_

swri::Subscriber	sync_sub_
	Subscriber to listen for sync times from a DIO. More...

boost::circular_buffer< ros::Time >	sync_times_
	Buffer of sync message time stamps. More...

boost::thread	thread_

ros::Publisher	time_pub_

ros::Publisher	trackstat_pub_

bool	use_binary_messages_

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Definition at line 174 of file novatel_gps_nodelet.cpp.

Constructor & Destructor Documentation

novatel_gps_driver::NovatelGpsNodelet::NovatelGpsNodelet ( )

inline

Definition at line 177 of file novatel_gps_nodelet.cpp.

novatel_gps_driver::NovatelGpsNodelet::~NovatelGpsNodelet ( )

inlineoverride

Definition at line 223 of file novatel_gps_nodelet.cpp.

Member Function Documentation

void novatel_gps_driver::NovatelGpsNodelet::CalculateTimeSync ( )

inlineprivate

Updates the time sync offsets by matching up timesync messages to gps messages and calculating the time offset between them.

Index of last synced timesync msg

Index of last synced gps msg

Definition at line 1126 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::CheckDeviceForData ( )

inlineprivate

Reads data from the device and publishes any parsed messages.

Note that when reading from the device, this will block until data is available.

Definition at line 715 of file novatel_gps_nodelet.cpp.

sensor_msgs::NavSatFixPtr novatel_gps_driver::NovatelGpsNodelet::ConvertGpsFixToNavSatFix ( const gps_common::GPSFixPtr & msg )

inlineprivate

Definition at line 1068 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::DataDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprivate

Definition at line 1301 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::DeviceDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprivate

Definition at line 1253 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::FixDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprivate

Definition at line 1168 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::GpsDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprivate

Definition at line 1283 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::onInit ( )

inlineoverridevirtual

Init method reads parameters and sets up publishers and subscribers. It does not connect to the device.

Implements nodelet::Nodelet.

Definition at line 232 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::RateDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprivate

Definition at line 1326 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::resetService	(	novatel_gps_msgs::NovatelFRESET::Request &	req,
		novatel_gps_msgs::NovatelFRESET::Response &	res
	)

inlineprivate

Service request to reset the gps through FRESET.

Definition at line 686 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::Spin ( )

inline

Main spin loop connects to device, then reads data from it and publishes messages.

Definition at line 421 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::SyncCallback ( const std_msgs::TimeConstPtr & sync )

inline

Definition at line 411 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::SyncDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status )

inlineprivate

Definition at line 1230 of file novatel_gps_nodelet.cpp.

Member Data Documentation

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::clocksteering_pub_

private

Definition at line 616 of file novatel_gps_nodelet.cpp.

NovatelGps::ConnectionType novatel_gps_driver::NovatelGpsNodelet::connection_

private

Definition at line 643 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::connection_type_

private

The connection type, ("serial", "tcp", or "udp")

Definition at line 585 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::device_

private

The device identifier e.g. /dev/ttyUSB0.

Definition at line 583 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_errors_

private

Definition at line 672 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_interrupts_

private

Definition at line 671 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_timeouts_

private

Definition at line 670 of file novatel_gps_nodelet.cpp.

diagnostic_updater::Updater novatel_gps_driver::NovatelGpsNodelet::diagnostic_updater_

private

Definition at line 667 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::error_msg_

private

Definition at line 666 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::expected_rate_

private

Definition at line 669 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::fix_pub_

private

Definition at line 617 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::frame_id_

private

Definition at line 681 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgga_pub_

private

Definition at line 632 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgsa_pub_

private

Definition at line 634 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgsv_pub_

private

Definition at line 633 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gphdt_pub_

private

Definition at line 635 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gprmc_pub_

private

Definition at line 636 of file novatel_gps_nodelet.cpp.

NovatelGps novatel_gps_driver::NovatelGpsNodelet::gps_

private

Definition at line 644 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::gps_insufficient_data_warnings_

private

Definition at line 674 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::gps_parse_failures_

private

Definition at line 673 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gps_pub_

private

Definition at line 618 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::hw_id_

private

Definition at line 668 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::imu_frame_id_

private

Definition at line 680 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::imu_pub_

private

Definition at line 619 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::imu_rate_

private

The rate at which IMU measurements will be published, in Hz.

Definition at line 593 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::imu_sample_rate_

private

How frequently the device samples the IMU, in Hz.

Definition at line 595 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::inscov_pub_

private

Definition at line 620 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::inspva_pub_

private

Definition at line 621 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::inspvax_pub_

private

Definition at line 622 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::insstdev_pub_

private

Definition at line 623 of file novatel_gps_nodelet.cpp.

novatel_gps_msgs::NovatelPositionPtr novatel_gps_driver::NovatelGpsNodelet::last_novatel_position_

private

Definition at line 678 of file novatel_gps_nodelet.cpp.

ros::Time novatel_gps_driver::NovatelGpsNodelet::last_published_

private

Definition at line 677 of file novatel_gps_nodelet.cpp.

ros::Time novatel_gps_driver::NovatelGpsNodelet::last_sync_

private

Definition at line 651 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::measurement_count_

private

Definition at line 676 of file novatel_gps_nodelet.cpp.

boost::circular_buffer<ros::Time> novatel_gps_driver::NovatelGpsNodelet::msg_times_

private

Buffer of gps message time stamps.

Definition at line 655 of file novatel_gps_nodelet.cpp.

boost::mutex novatel_gps_driver::NovatelGpsNodelet::mutex_

private

Definition at line 647 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_dual_antenna_heading_pub_

private

Definition at line 630 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_heading2_pub_

private

Definition at line 629 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_imu_pub_

private

Definition at line 624 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_position_pub_

private

Definition at line 625 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_psrdop2_pub_

private

Definition at line 631 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_utm_pub_

private

Definition at line 627 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_velocity_pub_

private

Definition at line 628 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_xyz_position_pub_

private

Definition at line 626 of file novatel_gps_nodelet.cpp.

stats::accumulator_set<float, stats::stats< stats::tag::max, stats::tag::min, stats::tag::mean, stats::tag::variance> > novatel_gps_driver::NovatelGpsNodelet::offset_stats_

private

Stats on time offset.

Definition at line 661 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::polling_period_

private

Definition at line 588 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_clock_steering_

private

Definition at line 597 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_diagnostics_

private

Definition at line 610 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_gpgsa_

private

Definition at line 589 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_gpgsv_

private

Definition at line 590 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_gphdt_

private

Definition at line 591 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_imu_messages_

private

Definition at line 598 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_invalid_gpsfix_

private

Definition at line 612 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_nmea_messages_

private

Definition at line 606 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_novatel_dual_antenna_heading_

private

Definition at line 604 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_novatel_heading2_

private

Definition at line 603 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_novatel_positions_

private

Definition at line 599 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_novatel_psrdop2_

private

Definition at line 605 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_novatel_utm_positions_

private

Definition at line 601 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_novatel_velocity_

private

Definition at line 602 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_novatel_xyz_positions_

private

Definition at line 600 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_range_messages_

private

Definition at line 607 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::publish_rate_warnings_

private

Definition at line 675 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_sync_diagnostic_

private

Definition at line 611 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_time_messages_

private

Definition at line 608 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_trackstat_

private

Definition at line 609 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::range_pub_

private

Definition at line 637 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::reconnect_delay_s_

private

Definition at line 613 of file novatel_gps_nodelet.cpp.

ros::ServiceServer novatel_gps_driver::NovatelGpsNodelet::reset_service_

private

Definition at line 641 of file novatel_gps_nodelet.cpp.

stats::accumulator_set<float, stats::stats<stats::tag::rolling_mean> > novatel_gps_driver::NovatelGpsNodelet::rolling_offset_

private

Rolling mean of time offset.

Definition at line 663 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::serial_baud_

private

The baud rate used for serial connection.

Definition at line 587 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::span_frame_to_ros_frame_

private

Definition at line 596 of file novatel_gps_nodelet.cpp.

swri::Subscriber novatel_gps_driver::NovatelGpsNodelet::sync_sub_

private

Subscriber to listen for sync times from a DIO.

Definition at line 650 of file novatel_gps_nodelet.cpp.

boost::circular_buffer<ros::Time> novatel_gps_driver::NovatelGpsNodelet::sync_times_

private

Buffer of sync message time stamps.

Definition at line 653 of file novatel_gps_nodelet.cpp.

boost::thread novatel_gps_driver::NovatelGpsNodelet::thread_

private

Definition at line 646 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::time_pub_

private

Definition at line 638 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::trackstat_pub_

private

Definition at line 639 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::use_binary_messages_

private

Definition at line 614 of file novatel_gps_nodelet.cpp.

The documentation for this class was generated from the following file:

novatel_gps_nodelet.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation