Classes
class	AdrUdrProduct
	Implements functions for Automotive Dead Reckoning (ADR) and Untethered Dead Reckoning (UDR) Devices. More...

class	ComponentInterface
	This interface is used to add functionality to the main node. More...

struct	FixDiagnostic
	Topic diagnostics for fix / fix_velocity messages. More...

class	FtsProduct
	Implements functions for FTS products. Currently unimplemented. More...

class	HpgRefProduct
	Implements functions for High Precision GNSS Reference station devices. More...

class	HpgRovProduct
	Implements functions for High Precision GNSS Rover devices. More...

class	HpPosRecProduct

class	RawDataProduct
	Implements functions for Raw Data products. More...

class	RawDataStreamPa
	Implements functions for raw data stream. More...

class	TimProduct
	Implements functions for Time Sync products. More...

class	UbloxFirmware
	This abstract class represents a firmware component. More...

class	UbloxFirmware6
	Implements functions for firmware version 6. More...

class	UbloxFirmware7
	Implements functions for firmware version 7. More...

class	UbloxFirmware7Plus

class	UbloxFirmware8
	Implements functions for firmware version 8. More...

class	UbloxFirmware9
	Implements functions for firmware version 9. For now it simply re-uses the firmware version 8 class but allows for future expansion of functionality. More...

class	UbloxNode
	This class represents u-blox ROS node for all firmware and product versions. More...

struct	UbloxTopicDiagnostic
	Topic diagnostics for u-blox messages. More...

Typedefs
typedef boost::shared_ptr< ComponentInterface >	ComponentPtr

Functions
template<typename V , typename T >
void	checkMin (V val, T min, std::string name)
	Check that the parameter is above the minimum. More...

template<typename V , typename T >
void	checkRange (V val, T min, T max, std::string name)
	Check that the parameter is in the range. More...

template<typename V , typename T >
void	checkRange (std::vector< V > val, T min, T max, std::string name)
	Check that the elements of the vector are in the range. More...

uint8_t	fixModeFromString (const std::string &mode)
	Determine fix mode from human-readable string. More...

template<typename I >
bool	getRosInt (const std::string &key, I &u)
	Get a integer (size 8 or 16) value from the parameter server. More...

template<typename U , typename V >
void	getRosInt (const std::string &key, U &u, V default_val)
	Get an integer value (size 8 or 16) from the parameter server. More...

template<typename I >
bool	getRosInt (const std::string &key, std::vector< I > &i)
	Get a int (size 8 or 16) vector from the parameter server. More...

template<typename U >
bool	getRosUint (const std::string &key, U &u)
	Get a unsigned integer value from the parameter server. More...

template<typename U , typename V >
void	getRosUint (const std::string &key, U &u, V default_val)
	Get a unsigned integer value from the parameter server. More...

template<typename U >
bool	getRosUint (const std::string &key, std::vector< U > &u)
	Get a unsigned integer vector from the parameter server. More...

uint8_t	modelFromString (const std::string &model)
	Determine dynamic model from human-readable string. More...

template<typename MessageT >
void	publish (const MessageT &m, const std::string &topic)
	Publish a ROS message of type MessageT. More...

void	publish_nmea (const std::string &sentence, const std::string &topic)

bool	supportsGnss (std::string gnss)

Variables
bool	config_on_startup_flag_
	Flag for enabling configuration on startup. More...

std::map< std::string, bool >	enabled
	Whether or not to publish the given ublox message. More...

int	fix_status_service

std::string	frame_id
	The ROS frame ID of this device. More...

boost::shared_ptr< FixDiagnostic >	freq_diag
	fix frequency diagnostic updater More...

ublox_gps::Gps	gps
	Handles communication with the U-Blox Device. More...

static constexpr uint16_t	kDefaultMeasPeriod = 250
	Default measurement period for HPG devices. More...

static constexpr uint32_t	kNavSvInfoSubscribeRate = 20
	Subscribe Rate for u-blox SV Info messages. More...

static constexpr uint32_t	kROSQueueSize = 1
	Queue size for ROS publishers. More...

static constexpr uint32_t	kSubscribeRate = 1
	Default subscribe Rate to u-blox messages [Hz]. More...

uint16_t	meas_rate
	The measurement [ms], see CfgRate.msg. More...

uint16_t	nav_rate
	Navigation rate in measurement cycles, see CfgRate.msg. More...

boost::shared_ptr< ros::NodeHandle >	nh
	Node Handle for GPS node. More...

std::vector< uint8_t >	rtcm_ids
	IDs of RTCM out messages to configure. More...

std::vector< uint8_t >	rtcm_rates
	Rates of RTCM out messages. Size must be the same as rtcm_ids. More...

std::set< std::string >	supported
	Which GNSS are supported by the device. More...

boost::shared_ptr< diagnostic_updater::Updater >	updater
	ROS diagnostic updater. More...

Detailed Description

This namespace is for the ROS u-blox node and handles anything regarding ROS parameters, message passing, diagnostics, etc.

Typedef Documentation

◆ ComponentPtr

typedef boost::shared_ptr<ComponentInterface> ublox_node::ComponentPtr

Definition at line 484 of file node.h.

Function Documentation

◆ checkMin()

template<typename V , typename T >

void ublox_node::checkMin	(	V	val,
		T	min,
		std::string	name
	)

Check that the parameter is above the minimum.

Parameters

val	the value to check
min	the minimum for this value
name	the name of the parameter

Exceptions

std::runtime_error if it is below the minimum

Definition at line 265 of file node.h.

◆ checkRange() [1/2]

template<typename V , typename T >

void ublox_node::checkRange	(	V	val,
		T	min,
		T	max,
		std::string	name
	)

Check that the parameter is in the range.

Parameters

val	the value to check
min	the minimum for this value
max	the maximum for this value
name	the name of the parameter

Exceptions

std::runtime_error if it is out of bounds

Definition at line 282 of file node.h.

◆ checkRange() [2/2]

template<typename V , typename T >

void ublox_node::checkRange	(	std::vector< V >	val,
		T	min,
		T	max,
		std::string	name
	)

Check that the elements of the vector are in the range.

Parameters

val	the vector to check
min	the minimum for this value
max	the maximum for this value
name	the name of the parameter

Exceptions

std::runtime_error value it is out of bounds

Definition at line 300 of file node.h.

◆ fixModeFromString()

uint8_t ublox_node::fixModeFromString ( const std::string & mode )

Determine fix mode from human-readable string.

Parameters

mode	One of the following (case-insensitive): 2d 3d auto

Returns: FixMode

Exceptions

std::runtime_error on invalid argument.

Definition at line 72 of file node.cpp.

◆ getRosInt() [1/3]

template<typename I >

bool ublox_node::getRosInt	(	const std::string &	key,
		I &	u
	)

Get a integer (size 8 or 16) value from the parameter server.

Parameters

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.

Exceptions

std::runtime_error if the parameter is out of bounds

Returns: true if found, false if not found.

Definition at line 370 of file node.h.

◆ getRosInt() [2/3]

template<typename U , typename V >

void ublox_node::getRosInt	(	const std::string &	key,
		U &	u,
		V	default_val
	)

Get an integer value (size 8 or 16) from the parameter server.

Parameters

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.
val	value to use if the server doesn't contain this parameter.

Exceptions

std::runtime_error if the parameter is out of bounds

Returns: true if found, false if not found.

Definition at line 391 of file node.h.

◆ getRosInt() [3/3]

template<typename I >

bool ublox_node::getRosInt	(	const std::string &	key,
		std::vector< I > &	i
	)

Get a int (size 8 or 16) vector from the parameter server.

Exceptions

std::runtime_error if the parameter is out of bounds.

Returns: true if found, false if not found.

Definition at line 402 of file node.h.

◆ getRosUint() [1/3]

template<typename U >

bool ublox_node::getRosUint	(	const std::string &	key,
		U &	u
	)

Get a unsigned integer value from the parameter server.

Parameters

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.

Exceptions

std::runtime_error if the parameter is out of bounds

Returns: true if found, false if not found.

Definition at line 316 of file node.h.

◆ getRosUint() [2/3]

template<typename U , typename V >

void ublox_node::getRosUint	(	const std::string &	key,
		U &	u,
		V	default_val
	)

Get a unsigned integer value from the parameter server.

Parameters

key	the key to be used in the parameter server's dictionary
u	storage for the retrieved value.
val	value to use if the server doesn't contain this parameter.

Exceptions

std::runtime_error if the parameter is out of bounds

Returns: true if found, false if not found.

Definition at line 337 of file node.h.

◆ getRosUint() [3/3]

template<typename U >

bool ublox_node::getRosUint	(	const std::string &	key,
		std::vector< U > &	u
	)

Get a unsigned integer vector from the parameter server.

Exceptions

std::runtime_error if the parameter is out of bounds.

Returns: true if found, false if not found.

Definition at line 348 of file node.h.

◆ modelFromString()

uint8_t ublox_node::modelFromString ( const std::string & model )

Determine dynamic model from human-readable string.

Parameters

model

One of the following (case-insensitive):

portable
stationary
pedestrian
automotive
sea
airborne1
airborne2
airborne4
wristwatch

Returns: DynamicModel

Exceptions

std::runtime_error on invalid argument.

Definition at line 43 of file node.cpp.

◆ publish()

template<typename MessageT >

void ublox_node::publish	(	const MessageT &	m,
		const std::string &	topic
	)

Publish a ROS message of type MessageT.

This function should be used to publish all messages which are simply read from u-blox and published.

Parameters

m	the message to publish
topic	the topic to publish the message on

Definition at line 425 of file node.h.

◆ publish_nmea()

void ublox_node::publish_nmea	(	const std::string &	sentence,
		const std::string &	topic
	)

Definition at line 431 of file node.h.

◆ supportsGnss()

bool ublox_node::supportsGnss ( std::string gnss )

Parameters

gnss	The string representing the GNSS. Refer MonVER message protocol. i.e. GPS, GLO, GAL, BDS, QZSS, SBAS, IMES

Returns: true if the device supports the given GNSS

Definition at line 446 of file node.h.

Variable Documentation

◆ config_on_startup_flag_

bool ublox_node::config_on_startup_flag_

Flag for enabling configuration on startup.

Definition at line 129 of file node.h.

◆ enabled

std::map<std::string, bool> ublox_node::enabled

Whether or not to publish the given ublox message.

key is the message name (all lowercase) without firmware version numbers (e.g. NavPVT instead of NavPVT7). Value indicates whether or not to enable the message.

Definition at line 114 of file node.h.

◆ fix_status_service

int ublox_node::fix_status_service

The fix status service type, set in the Firmware Component based on the enabled GNSS

Definition at line 119 of file node.h.

◆ frame_id

std::string ublox_node::frame_id

The ROS frame ID of this device.

Definition at line 116 of file node.h.

◆ freq_diag

boost::shared_ptr<FixDiagnostic> ublox_node::freq_diag

fix frequency diagnostic updater

Definition at line 227 of file node.h.

◆ gps

ublox_gps::Gps ublox_node::gps

Handles communication with the U-Blox Device.

Definition at line 106 of file node.h.

◆ kDefaultMeasPeriod

constexpr uint16_t ublox_node::kDefaultMeasPeriod = 250

static

Default measurement period for HPG devices.

Definition at line 93 of file node.h.

◆ kNavSvInfoSubscribeRate

constexpr uint32_t ublox_node::kNavSvInfoSubscribeRate = 20

static

Subscribe Rate for u-blox SV Info messages.

Definition at line 97 of file node.h.

◆ kROSQueueSize

constexpr uint32_t ublox_node::kROSQueueSize = 1

static

Queue size for ROS publishers.

Definition at line 91 of file node.h.

◆ kSubscribeRate

constexpr uint32_t ublox_node::kSubscribeRate = 1

static

Default subscribe Rate to u-blox messages [Hz].

Definition at line 95 of file node.h.

◆ meas_rate

uint16_t ublox_node::meas_rate

The measurement [ms], see CfgRate.msg.

Definition at line 121 of file node.h.

◆ nav_rate

uint16_t ublox_node::nav_rate

Navigation rate in measurement cycles, see CfgRate.msg.

Definition at line 123 of file node.h.

◆ nh

boost::shared_ptr<ros::NodeHandle> ublox_node::nh

Node Handle for GPS node.

Definition at line 103 of file node.h.

◆ rtcm_ids

std::vector<uint8_t> ublox_node::rtcm_ids

IDs of RTCM out messages to configure.

Definition at line 125 of file node.h.

◆ rtcm_rates

std::vector<uint8_t> ublox_node::rtcm_rates

Rates of RTCM out messages. Size must be the same as rtcm_ids.

Definition at line 127 of file node.h.

◆ supported

std::set<std::string> ublox_node::supported

Which GNSS are supported by the device.

Definition at line 108 of file node.h.

◆ updater

boost::shared_ptr<diagnostic_updater::Updater> ublox_node::updater

ROS diagnostic updater.

Definition at line 101 of file node.h.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ ComponentPtr

Function Documentation

◆ checkMin()

◆ checkRange() [1/2]

◆ checkRange() [2/2]

◆ fixModeFromString()

◆ getRosInt() [1/3]

◆ getRosInt() [2/3]

◆ getRosInt() [3/3]

◆ getRosUint() [1/3]

◆ getRosUint() [2/3]

◆ getRosUint() [3/3]

◆ modelFromString()

◆ publish()

◆ publish_nmea()

◆ supportsGnss()

Variable Documentation

◆ config_on_startup_flag_

◆ enabled

◆ fix_status_service

◆ frame_id

◆ freq_diag

◆ gps

◆ kDefaultMeasPeriod

◆ kNavSvInfoSubscribeRate

◆ kROSQueueSize

◆ kSubscribeRate

◆ meas_rate

◆ nav_rate

◆ nh

◆ rtcm_ids

◆ rtcm_rates

◆ supported

◆ updater