This class represents the ROsaic node, to be extended.. More...

#include <rosaic_node.hpp>

Public Member Functions
void	configureRx ()
	Configures Rx: Which SBF/NMEA messages it should output and later correction settings. More...

void	connect ()
	Calles the reconnect() method. More...

void	defineMessages ()
	Defines which Rx messages to read and which ROS messages to publish. More...

void	getROSParams ()
	Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file. More...

void	initializeIO ()
	Initializes the I/O handling. More...

void	reconnect (const ros::TimerEvent &event)
	Attempts to (re)connect every reconnect_delay_s_ seconds. More...

	ROSaicNode ()

Private Attributes
std::string	ant_serial_nr_
	Serial number of your particular antenna. More...

std::string	ant_type_
	Antenna type, from the list returned by the command "lstAntennaInfo, Overview". More...

uint32_t	baudrate_
	Baudrate. More...

std::string	caster_
	Hostname or IP address of the NTRIP caster to connect to. More...

uint32_t	caster_port_
	IP port number of NTRIP caster to connect to. More...

bool	connected_
	Whether connecting to Rx was successful. More...

boost::condition_variable	connection_condition_

boost::mutex	connection_mutex_

std::string	datum_
	Datum to be used. More...

float	delta_e_
	Marker-to-ARP offset in the eastward direction. More...

float	delta_n_
	Marker-to-ARP offset in the northward direction. More...

float	delta_u_
	Marker-to-ARP offset in the upward direction. More...

std::string	device_
	Device port. More...

std::string	hw_flow_control_
	HW flow control. More...

std::string	mode_
	Type of NTRIP connection. More...

std::string	mountpoint_
	Mountpoint for NTRIP service. More...

std::string	ntrip_version_
	NTRIP version for NTRIP service. More...

std::string	password_
	Password for NTRIP service. More...

uint32_t	polling_period_pvt_
	Polling period for PVT-related SBF blocks. More...

uint32_t	polling_period_rest_
	Polling period for all other SBF blocks and NMEA messages. More...

bool	publish_attcoveuler_
	Whether or not to publish the rosaic::AttCovEuler message. More...

bool	publish_atteuler_
	Whether or not to publish the rosaic::AttEuler message. More...

bool	publish_gpgga_
	Whether or not to publish the GGA message. More...

bool	publish_gpgsa_
	Whether or not to publish the GSA message. More...

bool	publish_gpgsv_
	Whether or not to publish the GSV message. More...

bool	publish_gprmc_
	Whether or not to publish the RMC message. More...

bool	publish_poscovcartesian_
	Whether or not to publish the rosaic::PosCovCartesian message. More...

bool	publish_poscovgeodetic_
	Whether or not to publish the rosaic::PosCovGeodetic message. More...

bool	publish_pvtcartesian_
	Whether or not to publish the rosaic::PVTCartesian message. More...

bool	publish_pvtgeodetic_
	Whether or not to publish the rosaic::PVTGeodetic message. More...

float	reconnect_delay_s_
	Delay in seconds between reconnection attempts to the connection type specified in the parameter connection_type. More...

ros::Timer	reconnect_timer_
	Our ROS timer governing the reconnection. More...

std::string	rtcm_version_
	RTCM version for NTRIP service (if Rx does not have internet) More...

bool	rx_has_internet_
	Whether Rx has internet or not. More...

std::string	rx_input_corrections_serial_
	Rx serial port, e.g. USB2, on which Rx receives the corrections (can't be the same as main connection unless localhost concept is used) More...

uint32_t	rx_input_corrections_tcp_
	Rx TCP port number, e.g. 28785, on which Rx receives the corrections (can't be the same as main connection unless localhost concept is used) More...

std::string	rx_serial_port_
	In case of serial communication to Rx, rx_serial_port_ specifies Rx's serial port connected to, e.g. USB1 or COM1. More...

std::string	send_gga_
	Whether (and at which rate) or not to send GGA to the NTRIP caster. More...

bool	serial_
	Whether yet-to-be-established connection to Rx will be serial or TCP. More...

std::string	tcp_host_
	Host name of TCP server. More...

std::string	tcp_port_
	TCP port number. More...

std::string	username_
	Username for NTRIP service. More...

Detailed Description

This class represents the ROsaic node, to be extended..

Definition at line 200 of file rosaic_node.hpp.

Constructor & Destructor Documentation

◆ ROSaicNode()

rosaic_node::ROSaicNode::ROSaicNode ( )

The constructor initializes and runs the Rosaic node, if all works out fine. It loads the user-defined ROS parameters, subscribes to Rx messages, and publishes requested ROS messages...

Definition at line 39 of file rosaic_node.cpp.

Member Function Documentation

◆ configureRx()

void rosaic_node::ROSaicNode::configureRx ( )

Configures Rx: Which SBF/NMEA messages it should output and later correction settings.

The send() method of AsyncManager class is paramount for this purpose. Note that std::to_string() is from C++11 onwards only. Since ROSaic can be launched before booting the Rx, we have to watch out for escape characters that are sent by the Rx to indicate that it is in upgrade mode. Those characters would then be mingled with the first command we send to it in this method and could result in an invalid command. Hence we first enter command mode via "SSSSSSSSSS".

Definition at line 70 of file rosaic_node.cpp.

◆ connect()

void rosaic_node::ROSaicNode::connect ( )

Calles the reconnect() method.

Definition at line 488 of file rosaic_node.cpp.

◆ defineMessages()

void rosaic_node::ROSaicNode::defineMessages ( )

Defines which Rx messages to read and which ROS messages to publish.

initializeSerial is not self-contained: The for loop in Callbackhandlers' handle method would never open a specific handler unless the handler is added (=inserted) to the C++ map via this function. This way, the specific handler can be called, in which in turn RxMessage's read() method is called, thereby "message" occupied, and func_ (the handler we insert in this function) called with this "message".

Definition at line 569 of file rosaic_node.cpp.

◆ getROSParams()

void rosaic_node::ROSaicNode::getROSParams ( )

Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file.

The other ROSaic parameters are specified via the command line.

Definition at line 380 of file rosaic_node.cpp.

◆ initializeIO()

void rosaic_node::ROSaicNode::initializeIO ( )

Initializes the I/O handling.

Definition at line 445 of file rosaic_node.cpp.

◆ reconnect()

void rosaic_node::ROSaicNode::reconnect ( const ros::TimerEvent & event )

Attempts to (re)connect every reconnect_delay_s_ seconds.

In serial mode (not USB, since the Rx port is then called USB1 or USB2), please ensure that you are connected to the Rx's COM1, COM2 or COM3 port, !if! you employ UART hardware flow control.

Definition at line 501 of file rosaic_node.cpp.

Member Data Documentation

◆ ant_serial_nr_

std::string rosaic_node::ROSaicNode::ant_serial_nr_

private

Serial number of your particular antenna.

Definition at line 270 of file rosaic_node.hpp.

◆ ant_type_

std::string rosaic_node::ROSaicNode::ant_type_

private

Antenna type, from the list returned by the command "lstAntennaInfo, Overview".

Definition at line 268 of file rosaic_node.hpp.

◆ baudrate_

uint32_t rosaic_node::ROSaicNode::baudrate_

private

Baudrate.

Definition at line 246 of file rosaic_node.hpp.

◆ caster_

std::string rosaic_node::ROSaicNode::caster_

private

Hostname or IP address of the NTRIP caster to connect to.

Definition at line 274 of file rosaic_node.hpp.

◆ caster_port_

uint32_t rosaic_node::ROSaicNode::caster_port_

private

IP port number of NTRIP caster to connect to.

Definition at line 276 of file rosaic_node.hpp.

◆ connected_

bool rosaic_node::ROSaicNode::connected_

private

Whether connecting to Rx was successful.

Definition at line 252 of file rosaic_node.hpp.

◆ connection_condition_

boost::condition_variable rosaic_node::ROSaicNode::connection_condition_

private

Since the configureRx() method should only be called once the connection was established, we need the threads to communicate this to each other. Associated condition variable..

Definition at line 322 of file rosaic_node.hpp.

◆ connection_mutex_

boost::mutex rosaic_node::ROSaicNode::connection_mutex_

private

Since the configureRx() method should only be called once the connection was established, we need the threads to communicate this to each other. Associated mutex..

Definition at line 319 of file rosaic_node.hpp.

◆ datum_

std::string rosaic_node::ROSaicNode::datum_

private

Datum to be used.

Definition at line 254 of file rosaic_node.hpp.

◆ delta_e_

float rosaic_node::ROSaicNode::delta_e_

private

Marker-to-ARP offset in the eastward direction.

Definition at line 262 of file rosaic_node.hpp.

◆ delta_n_

float rosaic_node::ROSaicNode::delta_n_

private

Marker-to-ARP offset in the northward direction.

Definition at line 264 of file rosaic_node.hpp.

◆ delta_u_

float rosaic_node::ROSaicNode::delta_u_

private

Marker-to-ARP offset in the upward direction.

Definition at line 266 of file rosaic_node.hpp.

◆ device_

std::string rosaic_node::ROSaicNode::device_

private

Device port.

Definition at line 244 of file rosaic_node.hpp.

◆ hw_flow_control_

std::string rosaic_node::ROSaicNode::hw_flow_control_

private

HW flow control.

Definition at line 248 of file rosaic_node.hpp.

◆ mode_

std::string rosaic_node::ROSaicNode::mode_

private

Type of NTRIP connection.

Definition at line 272 of file rosaic_node.hpp.

◆ mountpoint_

std::string rosaic_node::ROSaicNode::mountpoint_

private

Mountpoint for NTRIP service.

Definition at line 282 of file rosaic_node.hpp.

◆ ntrip_version_

std::string rosaic_node::ROSaicNode::ntrip_version_

private

NTRIP version for NTRIP service.

Definition at line 284 of file rosaic_node.hpp.

◆ password_

std::string rosaic_node::ROSaicNode::password_

private

Password for NTRIP service.

Definition at line 280 of file rosaic_node.hpp.

◆ polling_period_pvt_

uint32_t rosaic_node::ROSaicNode::polling_period_pvt_

private

Polling period for PVT-related SBF blocks.

Definition at line 256 of file rosaic_node.hpp.

◆ polling_period_rest_

uint32_t rosaic_node::ROSaicNode::polling_period_rest_

private

Polling period for all other SBF blocks and NMEA messages.

Definition at line 258 of file rosaic_node.hpp.

◆ publish_attcoveuler_

bool rosaic_node::ROSaicNode::publish_attcoveuler_

private

Whether or not to publish the rosaic::AttCovEuler message.

Definition at line 316 of file rosaic_node.hpp.

◆ publish_atteuler_

bool rosaic_node::ROSaicNode::publish_atteuler_

private

Whether or not to publish the rosaic::AttEuler message.

Definition at line 314 of file rosaic_node.hpp.

◆ publish_gpgga_

bool rosaic_node::ROSaicNode::publish_gpgga_

private

Whether or not to publish the GGA message.

Definition at line 298 of file rosaic_node.hpp.

◆ publish_gpgsa_

bool rosaic_node::ROSaicNode::publish_gpgsa_

private

Whether or not to publish the GSA message.

Definition at line 302 of file rosaic_node.hpp.

◆ publish_gpgsv_

bool rosaic_node::ROSaicNode::publish_gpgsv_

private

Whether or not to publish the GSV message.

Definition at line 304 of file rosaic_node.hpp.

◆ publish_gprmc_

bool rosaic_node::ROSaicNode::publish_gprmc_

private

Whether or not to publish the RMC message.

Definition at line 300 of file rosaic_node.hpp.

◆ publish_poscovcartesian_

bool rosaic_node::ROSaicNode::publish_poscovcartesian_

private

Whether or not to publish the rosaic::PosCovCartesian message.

Definition at line 310 of file rosaic_node.hpp.

◆ publish_poscovgeodetic_

bool rosaic_node::ROSaicNode::publish_poscovgeodetic_

private

Whether or not to publish the rosaic::PosCovGeodetic message.

Definition at line 312 of file rosaic_node.hpp.

◆ publish_pvtcartesian_

bool rosaic_node::ROSaicNode::publish_pvtcartesian_

private

Whether or not to publish the rosaic::PVTCartesian message.

Definition at line 306 of file rosaic_node.hpp.

◆ publish_pvtgeodetic_

bool rosaic_node::ROSaicNode::publish_pvtgeodetic_

private

Whether or not to publish the rosaic::PVTGeodetic message.

Definition at line 308 of file rosaic_node.hpp.

◆ reconnect_delay_s_

float rosaic_node::ROSaicNode::reconnect_delay_s_

private

Delay in seconds between reconnection attempts to the connection type specified in the parameter connection_type.

Definition at line 260 of file rosaic_node.hpp.

◆ reconnect_timer_

ros::Timer rosaic_node::ROSaicNode::reconnect_timer_

private

Our ROS timer governing the reconnection.

Definition at line 294 of file rosaic_node.hpp.

◆ rtcm_version_

std::string rosaic_node::ROSaicNode::rtcm_version_

private

RTCM version for NTRIP service (if Rx does not have internet)

Definition at line 288 of file rosaic_node.hpp.

◆ rx_has_internet_

bool rosaic_node::ROSaicNode::rx_has_internet_

private

Whether Rx has internet or not.

Definition at line 286 of file rosaic_node.hpp.

◆ rx_input_corrections_serial_

std::string rosaic_node::ROSaicNode::rx_input_corrections_serial_

private

Rx serial port, e.g. USB2, on which Rx receives the corrections (can't be the same as main connection unless localhost concept is used)

Definition at line 292 of file rosaic_node.hpp.

◆ rx_input_corrections_tcp_

uint32_t rosaic_node::ROSaicNode::rx_input_corrections_tcp_

private

Rx TCP port number, e.g. 28785, on which Rx receives the corrections (can't be the same as main connection unless localhost concept is used)

Definition at line 290 of file rosaic_node.hpp.

◆ rx_serial_port_

std::string rosaic_node::ROSaicNode::rx_serial_port_

private

In case of serial communication to Rx, rx_serial_port_ specifies Rx's serial port connected to, e.g. USB1 or COM1.

Definition at line 250 of file rosaic_node.hpp.

◆ send_gga_

std::string rosaic_node::ROSaicNode::send_gga_

private

Whether (and at which rate) or not to send GGA to the NTRIP caster.

Definition at line 296 of file rosaic_node.hpp.

◆ serial_

bool rosaic_node::ROSaicNode::serial_

private

Whether yet-to-be-established connection to Rx will be serial or TCP.

Definition at line 328 of file rosaic_node.hpp.

◆ tcp_host_

std::string rosaic_node::ROSaicNode::tcp_host_

private

Host name of TCP server.

Definition at line 324 of file rosaic_node.hpp.

◆ tcp_port_

std::string rosaic_node::ROSaicNode::tcp_port_

private

TCP port number.

Definition at line 326 of file rosaic_node.hpp.

◆ username_

std::string rosaic_node::ROSaicNode::username_

private

Username for NTRIP service.

Definition at line 278 of file rosaic_node.hpp.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ROSaicNode()

Member Function Documentation

◆ configureRx()

◆ connect()

◆ defineMessages()

◆ getROSParams()

◆ initializeIO()

◆ reconnect()

Member Data Documentation

◆ ant_serial_nr_

◆ ant_type_

◆ baudrate_

◆ caster_

◆ caster_port_

◆ connected_

◆ connection_condition_

◆ connection_mutex_

◆ datum_

◆ delta_e_

◆ delta_n_

◆ delta_u_

◆ device_

◆ hw_flow_control_

◆ mode_

◆ mountpoint_

◆ ntrip_version_

◆ password_

◆ polling_period_pvt_

◆ polling_period_rest_

◆ publish_attcoveuler_

◆ publish_atteuler_

◆ publish_gpgga_

◆ publish_gpgsa_

◆ publish_gpgsv_

◆ publish_gprmc_

◆ publish_poscovcartesian_

◆ publish_poscovgeodetic_

◆ publish_pvtcartesian_

◆ publish_pvtgeodetic_

◆ reconnect_delay_s_

◆ reconnect_timer_

◆ rtcm_version_

◆ rx_has_internet_

◆ rx_input_corrections_serial_

◆ rx_input_corrections_tcp_

◆ rx_serial_port_

◆ send_gga_

◆ serial_

◆ tcp_host_

◆ tcp_port_

◆ username_