node.cpp File Reference

#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/TimeReference.h>
#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/String.h>
#include <tf/LinearMath/Quaternion.h>
#include <tf/transform_datatypes.h>
#include "dispatch.h"
#include <gps_common/conversions.h>
#include <arpa/inet.h>

Include dependency graph for node.cpp:

Go to the source code of this file.

Macros
#define	GPS_EPOCH_OFFSET   315964800
#define	GPS_LEAP_SECONDS   18
#define	OXFORD_DISPLAY_INFO   0
#define	OXTS_INFO(...)   ROS_DEBUG(__VA_ARGS__)
#define	OXTS_WARN(...)   ROS_DEBUG(__VA_ARGS__)
#define	UINT16_MAX   (65535)

Functions
static void	generateGGAString (double latitude, double longitude, double altitude, const ros::Time &utc_time, std::string &gga_msg)
static double	getZoneMeridian (const std::string &utm_zone)
static void	handlePacket (const Packet *packet, ros::Publisher &pub_fix, ros::Publisher &pub_vel, ros::Publisher &pub_imu, ros::Publisher &pub_odom, ros::Publisher &pub_pos_type, ros::Publisher &pub_nav_status, ros::Publisher &pub_gps_time_ref, ros::Publisher &pub_gga, const std::string &frame_id_gps, const std::string &frame_id_vel, const std::string &frame_id_odom)
int	main (int argc, char **argv)
static void	mapLookup (const std::map< uint8_t, std::string > &map, uint8_t key, std::string &val)
static bool	openSocket (const std::string &interface, const std::string &ip_addr, uint16_t port, int *fd_ptr, sockaddr_in *sock_ptr)
static int	readSocket (int fd, unsigned int timeout, void *data, size_t size, sockaddr *source_ptr=NULL)
static double	SQUARE (double x)
static double	toUtcTime (uint32_t gps_minutes, uint16_t gps_ms)

Variables
ros::Time	g_gps_utc_time
static const std::map< uint8_t, std::string >	NAV_STATUS_MAP
static const std::map< uint8_t, std::string >	POS_MODE_MAP

Macro Definition Documentation

#define GPS_EPOCH_OFFSET   315964800

Definition at line 67 of file node.cpp.

#define GPS_LEAP_SECONDS   18

Definition at line 66 of file node.cpp.

#define OXFORD_DISPLAY_INFO   0

Definition at line 123 of file node.cpp.

#define OXTS_INFO

(

...

)

ROS_DEBUG(__VA_ARGS__)

Definition at line 129 of file node.cpp.

#define OXTS_WARN

(

...

)

ROS_DEBUG(__VA_ARGS__)

Definition at line 130 of file node.cpp.

#define UINT16_MAX   (65535)

Definition at line 61 of file node.cpp.

Function Documentation

static void generateGGAString ( double  latitude, double  longitude, double  altitude, const ros::Time &  utc_time, std::string &  gga_msg  )

inlinestatic

Definition at line 197 of file node.cpp.

static double getZoneMeridian ( const std::string &  utm_zone )

inlinestatic

Definition at line 186 of file node.cpp.

static void handlePacket ( const Packet *  packet, ros::Publisher &  pub_fix, ros::Publisher &  pub_vel, ros::Publisher &  pub_imu, ros::Publisher &  pub_odom, ros::Publisher &  pub_pos_type, ros::Publisher &  pub_nav_status, ros::Publisher &  pub_gps_time_ref, ros::Publisher &  pub_gga, const std::string &  frame_id_gps, const std::string &  frame_id_vel, const std::string &  frame_id_odom  )

inlinestatic

Definition at line 245 of file node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 511 of file node.cpp.

static void mapLookup ( const std::map< uint8_t, std::string > &  map, uint8_t  key, std::string &  val  )

inlinestatic

Definition at line 177 of file node.cpp.

static bool openSocket ( const std::string &  interface, const std::string &  ip_addr, uint16_t  port, int *  fd_ptr, sockaddr_in *  sock_ptr  )

inlinestatic

Definition at line 70 of file node.cpp.

static int readSocket ( int  fd, unsigned int  timeout, void *  data, size_t  size, sockaddr *  source_ptr = NULL  )

inlinestatic

Definition at line 96 of file node.cpp.

static double SQUARE ( double  x )

inlinestatic

Definition at line 120 of file node.cpp.

static double toUtcTime ( uint32_t  gps_minutes, uint16_t  gps_ms  )

inlinestatic

Definition at line 192 of file node.cpp.

Variable Documentation

ros::Time g_gps_utc_time

Definition at line 65 of file node.cpp.

const std::map<uint8_t, std::string> NAV_STATUS_MAP

static

Initial value:

= {
  {0, "INVALID"},
  {1, "IMU_ONLY"},
  {2, "INITIALIZING"},
  {3, "LOCKING"},
  {4, "READY"},
}

Definition at line 169 of file node.cpp.

const std::map<uint8_t, std::string> POS_MODE_MAP

static

Definition at line 133 of file node.cpp.