nmea_handler.cpp
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24 
26 
27 #include <oem7_ros_publisher.hpp>
28 
29 #include <ros/ros.h>
30 
31 #include "nmea_msgs/Sentence.h"
32 
34 
35 namespace novatel_oem7_driver
36 {
38  {
40 
41 
42  void publishNMEASentence(Oem7RawMessageIf::ConstPtr msg)
43  {
44  boost::shared_ptr<nmea_msgs::Sentence> nmea_sentence(new nmea_msgs::Sentence);
45  nmea_sentence->sentence.assign(reinterpret_cast<const char*>(msg->getMessageData(0)), msg->getMessageDataLength());
46  NMEA_pub_.publish(nmea_sentence);
47  }
48 
49  public:
51  {
52  NMEA_pub_.setup<nmea_msgs::Sentence>("NMEA_Sentence", nh);
53  }
54 
55  const std::vector<int>& getMessageIds()
56  {
57  return OEM7_NMEA_MSGIDS;
58  }
59 
60  void handleMsg(Oem7RawMessageIf::ConstPtr msg)
61  {
63  }
64  };
65 }
66 
void initialize(ros::NodeHandle &nh)
void publishNMEASentence(Oem7RawMessageIf::ConstPtr msg)
static const std::vector< int > OEM7_NMEA_MSGIDS({GLMLA_OEM7_MSGID, GPALM_OEM7_MSGID, GPGGA_OEM7_MSGID, GPGGALONG_OEM7_MSGID, GPGLL_OEM7_MSGID, GPGRS_OEM7_MSGID, GPGSA_OEM7_MSGID, GPGST_OEM7_MSGID, GPGSV_OEM7_MSGID, GPHDT_OEM7_MSGID, GPHDTDUALANTENNA_MSGID, GPRMB_OEM7_MSGID, GPRMC_OEM7_MSGID, GPVTG_OEM7_MSGID, GPZDA_OEM7_MSGID})
Oem7RosPublisher NMEA_pub_
Publisher for NMEA sentences.
void handleMsg(Oem7RawMessageIf::ConstPtr msg)
void publish(boost::shared_ptr< M > &msg)
PLUGINLIB_EXPORT_CLASS(novatel_oem7_driver::Oem7ConfigNodelet, nodelet::Nodelet)
const std::vector< int > & getMessageIds()
void setup(const std::string &name, ros::NodeHandle &nh)


novatel_oem7_driver
Author(s):
autogenerated on Tue Mar 9 2021 03:48:00