#include <settings.h>
Public Attributes | |
| bool | activate_debug_log |
| Set logger level to DEBUG. More... | |
| std::string | ant_aux1_serial_nr |
| Serial number of your particular Aux1 antenna. More... | |
| std::string | ant_aux1_type |
| double | ant_lever_x |
| INS antenna lever arm x-offset. More... | |
| double | ant_lever_y |
| INS antenna lever arm y-offset. More... | |
| double | ant_lever_z |
| INS antenna lever arm z-offset. More... | |
| std::string | ant_serial_nr |
| Serial number of your particular Main antenna. More... | |
| std::string | ant_type |
| float | att_std_dev |
| Attitude deviation mask. More... | |
| std::string | aux1_frame_id |
| The frame ID of the aux1 antenna. More... | |
| uint32_t | baudrate |
| Baudrate. More... | |
| 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 | frame_id |
| The frame ID used in the header of every published ROS message. More... | |
| double | heading_offset |
| Attitude offset determination in longitudinal direction. More... | |
| std::string | hw_flow_control |
| HW flow control. More... | |
| std::string | imu_frame_id |
| The frame ID used in the header of published ROS Imu message. More... | |
| bool | ins_in_gnss_mode = false |
| Handle the case when an INS is used in GNSS mode. More... | |
| std::string | ins_initial_heading |
| For heading computation when unit is powered-cycled. More... | |
| bool | ins_use_poi |
| INS solution reference point. More... | |
| std::string | ins_vsm_ip_server_id |
| VSM IP server id. More... | |
| bool | ins_vsm_ip_server_keep_open |
| Wether VSM shall be kept open om shutdown. More... | |
| uint32_t | ins_vsm_ip_server_port |
| VSM tcp port. More... | |
| std::vector< bool > | ins_vsm_ros_config = {false, false, false} |
| Whether or not to use individual elements of 3D velocity (v_x, v_y, v_z) More... | |
| std::string | ins_vsm_ros_source |
| VSM source for INS. More... | |
| std::vector< double > | ins_vsm_ros_variances = {-1.0, -1.0, -1.0} |
| Variances of the 3D velocity (var_x, var_y, var_z) More... | |
| bool | ins_vsm_ros_variances_by_parameter = false |
| Whether or not to use variance defined by ROS parameter. More... | |
| uint32_t | ins_vsm_serial_baud_rate |
| VSM serial baud rate. More... | |
| bool | ins_vsm_serial_keep_open |
| Wether VSM shall be kept open om shutdown. More... | |
| std::string | ins_vsm_serial_port |
| VSM serial port. More... | |
| bool | insert_local_frame = false |
| Wether local frame should be inserted into tf. More... | |
| int32_t | leap_seconds |
| The number of leap seconds that have been inserted into the UTC time. More... | |
| std::string | local_frame_id |
| Frame id of the local frame to be inserted. More... | |
| bool | lock_utm_zone |
| Wether the UTM zone of the localization is locked. More... | |
| std::string | login_password |
| Password for login. More... | |
| std::string | login_user |
| Username for login. More... | |
| bool | multi_antenna |
| INS multiantenna. More... | |
| double | pitch_offset |
| Attitude offset determination in latitudinal direction. More... | |
| std::string | poi_frame_id |
| double | poi_x |
| INS POI offset in x-dimension. More... | |
| double | poi_y |
| INS POI offset in y-dimension. More... | |
| double | poi_z |
| INS POI offset in z-dimension. 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... | |
| float | pos_std_dev |
| Position deviation mask. More... | |
| bool | publish_attcoveuler |
| Whether or not to publish the AttCovEulerMsg message. More... | |
| bool | publish_atteuler |
| Whether or not to publish the AttEulerMsg message. More... | |
| bool | publish_basevectorcart |
| bool | publish_basevectorgeod |
| Whether or not to publish the BaseVectorGeodMsg message. More... | |
| bool | publish_diagnostics |
| Whether or not to publish the DiagnosticArrayMsg message. More... | |
| bool | publish_exteventinsnavcart |
| Whether or not to publish the ExtEventINSNavCartMsg message. More... | |
| bool | publish_exteventinsnavgeod |
| Whether or not to publish the ExtEventINSNavGeodMsg message. More... | |
| bool | publish_extsensormeas |
| Whether or not to publish the ExtSensorMeasMsg 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_gpsfix |
| Whether or not to publish the GPSFixMsg message. More... | |
| bool | publish_gpst |
| Whether or not to publish the TimeReferenceMsg message with GPST. More... | |
| bool | publish_imu |
| Whether or not to publish the ImuMsg message. More... | |
| bool | publish_imusetup |
| Whether or not to publish the IMUSetupMsg message. More... | |
| bool | publish_insnavcart |
| Whether or not to publish the INSNavCartMsg message. More... | |
| bool | publish_insnavgeod |
| Whether or not to publish the INSNavGeodMsg message. More... | |
| bool | publish_localization |
| Whether or not to publish the LocalizationMsg message. More... | |
| bool | publish_measepoch |
| Whether or not to publish the MeasEpoch message. More... | |
| bool | publish_navsatfix |
| Whether or not to publish the NavSatFixMsg message. More... | |
| bool | publish_poscovcartesian |
| bool | publish_poscovgeodetic |
| bool | publish_pose |
| Whether or not to publish the PoseWithCovarianceStampedMsg message. More... | |
| bool | publish_pvtcartesian |
| bool | publish_pvtgeodetic |
| Whether or not to publish the PVTGeodeticMsg message. More... | |
| bool | publish_tf |
| Whether or not to publish the tf of the localization. More... | |
| bool | publish_twist |
| Whether or not to publish the TwistWithCovarianceStampedMsg message. More... | |
| bool | publish_velcovgeodetic |
| bool | publish_velsensorsetup |
| Whether or not to publish the VelSensorSetupMsg message. More... | |
| bool | read_from_pcap = false |
| Whether or not we are reading from a PCAP file. More... | |
| bool | read_from_sbf_log = false |
| Whether or not we are reading from an SBF file. More... | |
| float | reconnect_delay_s |
| RtkSettings | rtk_settings |
| RTK corrections settings. More... | |
| std::string | rx_serial_port |
| std::string | septentrio_receiver_type |
| Septentrio receiver type, either "gnss" or "ins". More... | |
| double | theta_x |
| IMU orientation x-angle. More... | |
| double | theta_y |
| IMU orientation y-angle. More... | |
| double | theta_z |
| IMU orientation z-angle. More... | |
| bool | use_gnss_time |
| bool | use_ros_axis_orientation |
| ROS axis orientation, body: front-left-up, geographic: ENU. More... | |
| std::string | vehicle_frame_id |
| The frame ID of the vehicle frame. More... | |
| std::string | vsm_frame_id |
| The frame ID of the velocity sensor. More... | |
| double | vsm_x |
| INS velocity sensor lever arm x-offset. More... | |
| double | vsm_y |
| INS velocity sensor lever arm y-offset. More... | |
| double | vsm_z |
| INS velocity sensor lever arm z-offset. More... | |
Settings struct.
Definition at line 103 of file settings.h.
| bool Settings::activate_debug_log |
Set logger level to DEBUG.
Definition at line 106 of file settings.h.
| std::string Settings::ant_aux1_serial_nr |
Serial number of your particular Aux1 antenna.
Definition at line 144 of file settings.h.
| std::string Settings::ant_aux1_type |
Aux1 antenna type, from the list returned by the command "lstAntennaInfo, Overview"
Definition at line 140 of file settings.h.
| double Settings::ant_lever_x |
INS antenna lever arm x-offset.
Definition at line 154 of file settings.h.
| double Settings::ant_lever_y |
INS antenna lever arm y-offset.
Definition at line 156 of file settings.h.
| double Settings::ant_lever_z |
INS antenna lever arm z-offset.
Definition at line 158 of file settings.h.
| std::string Settings::ant_serial_nr |
Serial number of your particular Main antenna.
Definition at line 142 of file settings.h.
| std::string Settings::ant_type |
Main antenna type, from the list returned by the command "lstAntennaInfo, Overview"
Definition at line 137 of file settings.h.
| float Settings::att_std_dev |
Attitude deviation mask.
Definition at line 182 of file settings.h.
| std::string Settings::aux1_frame_id |
The frame ID of the aux1 antenna.
Definition at line 274 of file settings.h.
| uint32_t Settings::baudrate |
Baudrate.
Definition at line 117 of file settings.h.
| std::string Settings::datum |
Datum to be used.
Definition at line 124 of file settings.h.
| float Settings::delta_e |
Marker-to-ARP offset in the eastward direction.
Definition at line 130 of file settings.h.
| float Settings::delta_n |
Marker-to-ARP offset in the northward direction.
Definition at line 132 of file settings.h.
| float Settings::delta_u |
Marker-to-ARP offset in the upward direction.
Definition at line 134 of file settings.h.
| std::string Settings::device |
Device port.
Definition at line 108 of file settings.h.
| std::string Settings::frame_id |
The frame ID used in the header of every published ROS message.
Definition at line 265 of file settings.h.
| double Settings::heading_offset |
Attitude offset determination in longitudinal direction.
Definition at line 172 of file settings.h.
| std::string Settings::hw_flow_control |
HW flow control.
Definition at line 119 of file settings.h.
| std::string Settings::imu_frame_id |
The frame ID used in the header of published ROS Imu message.
Definition at line 267 of file settings.h.
| bool Settings::ins_in_gnss_mode = false |
Handle the case when an INS is used in GNSS mode.
Definition at line 259 of file settings.h.
| std::string Settings::ins_initial_heading |
For heading computation when unit is powered-cycled.
Definition at line 180 of file settings.h.
| bool Settings::ins_use_poi |
INS solution reference point.
Definition at line 178 of file settings.h.
| std::string Settings::ins_vsm_ip_server_id |
VSM IP server id.
Definition at line 294 of file settings.h.
| bool Settings::ins_vsm_ip_server_keep_open |
Wether VSM shall be kept open om shutdown.
Definition at line 298 of file settings.h.
| uint32_t Settings::ins_vsm_ip_server_port |
VSM tcp port.
Definition at line 296 of file settings.h.
| std::vector<bool> Settings::ins_vsm_ros_config = {false, false, false} |
Whether or not to use individual elements of 3D velocity (v_x, v_y, v_z)
Definition at line 288 of file settings.h.
| std::string Settings::ins_vsm_ros_source |
VSM source for INS.
Definition at line 286 of file settings.h.
| std::vector<double> Settings::ins_vsm_ros_variances = {-1.0, -1.0, -1.0} |
Variances of the 3D velocity (var_x, var_y, var_z)
Definition at line 292 of file settings.h.
| bool Settings::ins_vsm_ros_variances_by_parameter = false |
Whether or not to use variance defined by ROS parameter.
Definition at line 290 of file settings.h.
| uint32_t Settings::ins_vsm_serial_baud_rate |
VSM serial baud rate.
Definition at line 302 of file settings.h.
| bool Settings::ins_vsm_serial_keep_open |
Wether VSM shall be kept open om shutdown.
Definition at line 304 of file settings.h.
| std::string Settings::ins_vsm_serial_port |
VSM serial port.
Definition at line 300 of file settings.h.
| bool Settings::insert_local_frame = false |
Wether local frame should be inserted into tf.
Definition at line 253 of file settings.h.
| int32_t Settings::leap_seconds |
The number of leap seconds that have been inserted into the UTC time.
Definition at line 280 of file settings.h.
| std::string Settings::local_frame_id |
Frame id of the local frame to be inserted.
Definition at line 255 of file settings.h.
| bool Settings::lock_utm_zone |
Wether the UTM zone of the localization is locked.
Definition at line 278 of file settings.h.
| std::string Settings::login_password |
Password for login.
Definition at line 112 of file settings.h.
| std::string Settings::login_user |
Username for login.
Definition at line 110 of file settings.h.
| bool Settings::multi_antenna |
INS multiantenna.
Definition at line 176 of file settings.h.
| double Settings::pitch_offset |
Attitude offset determination in latitudinal direction.
Definition at line 174 of file settings.h.
| std::string Settings::poi_frame_id |
The frame ID used in the header of published ROS Localization message if poi is used
Definition at line 270 of file settings.h.
| double Settings::poi_x |
INS POI offset in x-dimension.
Definition at line 160 of file settings.h.
| double Settings::poi_y |
INS POI offset in y-dimension.
Definition at line 162 of file settings.h.
| double Settings::poi_z |
INS POI offset in z-dimension.
Definition at line 164 of file settings.h.
| uint32_t Settings::polling_period_pvt |
Polling period for PVT-related SBF blocks.
Definition at line 126 of file settings.h.
| uint32_t Settings::polling_period_rest |
Polling period for all other SBF blocks and NMEA messages.
Definition at line 128 of file settings.h.
| float Settings::pos_std_dev |
Position deviation mask.
Definition at line 184 of file settings.h.
| bool Settings::publish_attcoveuler |
Whether or not to publish the AttCovEulerMsg message.
Definition at line 219 of file settings.h.
| bool Settings::publish_atteuler |
Whether or not to publish the AttEulerMsg message.
Definition at line 217 of file settings.h.
| bool Settings::publish_basevectorcart |
Whether or not to publish the BaseVectorCartMsg message
Definition at line 204 of file settings.h.
| bool Settings::publish_basevectorgeod |
Whether or not to publish the BaseVectorGeodMsg message.
Definition at line 206 of file settings.h.
| bool Settings::publish_diagnostics |
Whether or not to publish the DiagnosticArrayMsg message.
Definition at line 243 of file settings.h.
| bool Settings::publish_exteventinsnavcart |
Whether or not to publish the ExtEventINSNavCartMsg message.
Definition at line 231 of file settings.h.
| bool Settings::publish_exteventinsnavgeod |
Whether or not to publish the ExtEventINSNavGeodMsg message.
Definition at line 229 of file settings.h.
| bool Settings::publish_extsensormeas |
Whether or not to publish the ExtSensorMeasMsg message.
Definition at line 233 of file settings.h.
| bool Settings::publish_gpgga |
Whether or not to publish the GGA message.
Definition at line 188 of file settings.h.
| bool Settings::publish_gpgsa |
Whether or not to publish the GSA message.
Definition at line 192 of file settings.h.
| bool Settings::publish_gpgsv |
Whether or not to publish the GSV message.
Definition at line 194 of file settings.h.
| bool Settings::publish_gprmc |
Whether or not to publish the RMC message.
Definition at line 190 of file settings.h.
| bool Settings::publish_gpsfix |
Whether or not to publish the GPSFixMsg message.
Definition at line 239 of file settings.h.
| bool Settings::publish_gpst |
Whether or not to publish the TimeReferenceMsg message with GPST.
Definition at line 235 of file settings.h.
| bool Settings::publish_imu |
Whether or not to publish the ImuMsg message.
Definition at line 245 of file settings.h.
| bool Settings::publish_imusetup |
Whether or not to publish the IMUSetupMsg message.
Definition at line 225 of file settings.h.
| bool Settings::publish_insnavcart |
Whether or not to publish the INSNavCartMsg message.
Definition at line 221 of file settings.h.
| bool Settings::publish_insnavgeod |
Whether or not to publish the INSNavGeodMsg message.
Definition at line 223 of file settings.h.
| bool Settings::publish_localization |
Whether or not to publish the LocalizationMsg message.
Definition at line 247 of file settings.h.
| bool Settings::publish_measepoch |
Whether or not to publish the MeasEpoch message.
Definition at line 196 of file settings.h.
| bool Settings::publish_navsatfix |
Whether or not to publish the NavSatFixMsg message.
Definition at line 237 of file settings.h.
| bool Settings::publish_poscovcartesian |
Whether or not to publish the PosCovCartesianMsg message
Definition at line 209 of file settings.h.
| bool Settings::publish_poscovgeodetic |
Whether or not to publish the PosCovGeodeticMsg message
Definition at line 212 of file settings.h.
| bool Settings::publish_pose |
Whether or not to publish the PoseWithCovarianceStampedMsg message.
Definition at line 241 of file settings.h.
| bool Settings::publish_pvtcartesian |
Whether or not to publish the PVTCartesianMsg message
Definition at line 199 of file settings.h.
| bool Settings::publish_pvtgeodetic |
Whether or not to publish the PVTGeodeticMsg message.
Definition at line 201 of file settings.h.
| bool Settings::publish_tf |
Whether or not to publish the tf of the localization.
Definition at line 251 of file settings.h.
| bool Settings::publish_twist |
Whether or not to publish the TwistWithCovarianceStampedMsg message.
Definition at line 249 of file settings.h.
| bool Settings::publish_velcovgeodetic |
Whether or not to publish the VelCovGeodeticMsg message
Definition at line 215 of file settings.h.
| bool Settings::publish_velsensorsetup |
Whether or not to publish the VelSensorSetupMsg message.
Definition at line 227 of file settings.h.
| bool Settings::read_from_pcap = false |
Whether or not we are reading from a PCAP file.
Definition at line 284 of file settings.h.
| bool Settings::read_from_sbf_log = false |
Whether or not we are reading from an SBF file.
Definition at line 282 of file settings.h.
| float Settings::reconnect_delay_s |
Delay in seconds between reconnection attempts to the connection type specified in the parameter connection_type
Definition at line 115 of file settings.h.
| RtkSettings Settings::rtk_settings |
RTK corrections settings.
Definition at line 186 of file settings.h.
| std::string Settings::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
Definition at line 122 of file settings.h.
| std::string Settings::septentrio_receiver_type |
Septentrio receiver type, either "gnss" or "ins".
Definition at line 257 of file settings.h.
| double Settings::theta_x |
IMU orientation x-angle.
Definition at line 148 of file settings.h.
| double Settings::theta_y |
IMU orientation y-angle.
Definition at line 150 of file settings.h.
| double Settings::theta_z |
IMU orientation z-angle.
Definition at line 152 of file settings.h.
| bool Settings::use_gnss_time |
If true, the ROS message headers' unix time field is constructed from the TOW (in the SBF case) and UTC (in the NMEA case) data. If false, times are constructed within the driver via time(NULL) of the <ctime> library.
Definition at line 263 of file settings.h.
| bool Settings::use_ros_axis_orientation |
ROS axis orientation, body: front-left-up, geographic: ENU.
Definition at line 146 of file settings.h.
| std::string Settings::vehicle_frame_id |
The frame ID of the vehicle frame.
Definition at line 276 of file settings.h.
| std::string Settings::vsm_frame_id |
The frame ID of the velocity sensor.
Definition at line 272 of file settings.h.
| double Settings::vsm_x |
INS velocity sensor lever arm x-offset.
Definition at line 166 of file settings.h.
| double Settings::vsm_y |
INS velocity sensor lever arm y-offset.
Definition at line 168 of file settings.h.
| double Settings::vsm_z |
INS velocity sensor lever arm z-offset.
Definition at line 170 of file settings.h.