Contains ROS messages and the publishers that will publish them. More...

#include <publishers.h>

Classes
class	Publisher
	Wrapper for a publisher. More...

Public Member Functions
bool	activate ()
	Only technically needed for ROS2 lifecycle publishers, this will activate the publishers, so they are ready to be published on. More...

bool	configure ()
	Configures the publishers. More...

bool	deactivate ()
	Only technically needed for ROS2 lifecycle publishers, this will deactivate the publishers, so they can be reconfigured and reactivated. More...

void	publish ()
	Publishes all messages that have changed and are configured to be published. More...

	Publishers ()=default
	Default Constructor. More...

	Publishers (RosNodeType node, Config config)
	Constructs this class with a reference to the node, and a config object. More...

Public Attributes
Publisher< PoseWithCovarianceStampedMsg >::SharedPtr	filter_dual_antenna_heading_pub_ = Publisher<PoseWithCovarianceStampedMsg>::initialize(FILTER_DUAL_ANTENNA_HEADING_TOPIC)

Publisher< HumanReadableStatusMsg >::SharedPtr	filter_human_readable_status_pub_ = Publisher<HumanReadableStatusMsg>::initialize(FILTER_HUMAN_READABLE_STATUS_TOPIC)

Publisher< ImuMsg >::SharedPtr	filter_imu_pub_ = Publisher<ImuMsg>::initialize(FILTER_IMU_DATA_TOPIC)

Publisher< NavSatFixMsg >::SharedPtr	filter_llh_position_pub_ = Publisher<NavSatFixMsg>::initialize(FILTER_LLH_POSITION_TOPIC)

Publisher< OdometryMsg >::SharedPtr	filter_odometry_earth_pub_ = Publisher<OdometryMsg>::initialize(FILTER_ODOMETRY_EARTH_TOPIC )

Publisher< OdometryMsg >::SharedPtr	filter_odometry_map_pub_ = Publisher<OdometryMsg>::initialize(FILTER_ODOMETRY_MAP_TOPIC)

Publisher< TwistWithCovarianceStampedMsg >::SharedPtr	filter_velocity_ecef_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initialize(FILTER_VELOCITY_ECEF_TOPIC)

Publisher< TwistWithCovarianceStampedMsg >::SharedPtr	filter_velocity_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initialize(FILTER_VELOCITY_TOPIC)

TransformStampedMsg	gnss_antenna_link_to_imu_link_transform_ [NUM_GNSS]

Publisher< NavSatFixMsg >::SharedPtrVec	gnss_llh_position_pub_ = Publisher<NavSatFixMsg>::initializeVec({GNSS1_LLH_POSITION_TOPIC, GNSS2_FIX_TOPIC})

Publisher< OdometryMsg >::SharedPtrVec	gnss_odometry_pub_ = Publisher<OdometryMsg>::initializeVec({GNSS1_ODOMETRY_TOPIC, GNSS2_ODOMETRY_TOPIC})

Publisher< TimeReferenceMsg >::SharedPtrVec	gnss_time_pub_ = Publisher<TimeReferenceMsg>::initializeVec({GNSS1_TIME_REF_TOPIC, GNSS2_TIME_REF_TOPIC})

Publisher< TwistWithCovarianceStampedMsg >::SharedPtrVec	gnss_velocity_ecef_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initializeVec({GNSS1_VELOCITY_ECEF_TOPIC, GNSS2_VELOCITY_ECEF_TOPIC})

Publisher< TwistWithCovarianceStampedMsg >::SharedPtrVec	gnss_velocity_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initializeVec({GNSS1_VELOCITY_TOPIC, GNSS2_VELOCITY_TOPIC})

bool	imu_link_to_earth_transform_attitude_updated_ = false

tf2::Stamped< tf2::Transform >	imu_link_to_earth_transform_tf_stamped_

bool	imu_link_to_earth_transform_translation_updated_ = false

bool	imu_link_to_map_transform_attitude_updated_ = false

tf2::Stamped< tf2::Transform >	imu_link_to_map_transform_tf_stamped_

bool	imu_link_to_map_transform_translation_updated_ = false

Publisher< ImuMsg >::SharedPtr	imu_pub_ = Publisher<ImuMsg>::initialize(IMU_DATA_TOPIC)

Publisher< ImuMsg >::SharedPtr	imu_raw_pub_ = Publisher<ImuMsg>::initialize(IMU_DATA_RAW_TOPIC)

Publisher< MagneticFieldMsg >::SharedPtr	mag_pub_ = Publisher<MagneticFieldMsg>::initialize(IMU_MAG_TOPIC)

Publisher< MipFilterAidingMeasurementSummaryMsg >::SharedPtr	mip_filter_aiding_measurement_summary_pub_ = Publisher<MipFilterAidingMeasurementSummaryMsg>::initialize(MIP_FILTER_AIDING_MEASUREMENT_SUMMARY_TOPIC)

Publisher< MipFilterGnssDualAntennaStatusMsg >::SharedPtr	mip_filter_gnss_dual_antenna_status_pub_ = Publisher<MipFilterGnssDualAntennaStatusMsg>::initialize(MIP_FILTER_GNSS_DUAL_ANTENNA_STATUS_TOPIC)

Publisher< MipFilterGnssPositionAidingStatusMsg >::SharedPtr	mip_filter_gnss_position_aiding_status_pub_ = Publisher<MipFilterGnssPositionAidingStatusMsg>::initialize(MIP_FILTER_GNSS_POSITION_AIDING_STATUS_TOPIC)

Publisher< MipFilterMultiAntennaOffsetCorrectionMsg >::SharedPtr	mip_filter_multi_antenna_offset_correction_pub_ = Publisher<MipFilterMultiAntennaOffsetCorrectionMsg>::initialize(MIP_FILTER_MULTI_ANTENNA_OFFSET_CORRECTION_TOPIC)

Publisher< MipFilterStatusMsg >::SharedPtr	mip_filter_status_pub_ = Publisher<MipFilterStatusMsg>::initialize(MIP_FILTER_STATUS_TOPIC)

Publisher< MipGnssCorrectionsRtkCorrectionsStatusMsg >::SharedPtr	mip_gnss_corrections_rtk_corrections_status_pub_ = Publisher<MipGnssCorrectionsRtkCorrectionsStatusMsg>::initialize(MIP_GNSS_CORRECTIONS_RTK_CORRECTIONS_STATUS_TOPIC)

Publisher< MipGnssFixInfoMsg >::SharedPtrVec	mip_gnss_fix_info_pub_ = Publisher<MipGnssFixInfoMsg>::initializeVec({MIP_GNSS1_FIX_INFO_TOPIC, MIP_GNSS2_FIX_INFO_TOPIC})

Publisher< MipGnssRfErrorDetectionMsg >::SharedPtrVec	mip_gnss_rf_error_detection_pub_ = Publisher<MipGnssRfErrorDetectionMsg>::initializeVec({MIP_GNSS1_RF_ERROR_DETECTION_TOPIC, MIP_GNSS2_RF_ERROR_DETECTION_TOPIC})

Publisher< MipGnssSbasInfoMsg >::SharedPtrVec	mip_gnss_sbas_info_pub_ = Publisher<MipGnssSbasInfoMsg>::initializeVec({MIP_GNSS1_SBAS_INFO_TOPIC, MIP_GNSS2_SBAS_INFO_TOPIC})

Publisher< MipSensorOverrangeStatusMsg >::SharedPtr	mip_sensor_overrange_status_pub_ = Publisher<MipSensorOverrangeStatusMsg>::initialize(MIP_SENSOR_OVERRANGE_STATUS_TOPIC)

Publisher< MipSensorTemperatureStatisticsMsg >::SharedPtr	mip_sensor_temperature_statistics_pub_ = Publisher<MipSensorTemperatureStatisticsMsg>::initialize(MIP_SENSOR_TEMPERATURE_STATISTICS_TOPIC)

Publisher< MipSystemBuiltInTestMsg >::SharedPtr	mip_system_built_in_test_pub_ = Publisher<MipSystemBuiltInTestMsg>::initialize(MIP_SYSTEM_BUILT_IN_TEST_TOPIC)

Publisher< MipSystemTimeSyncStatusMsg >::SharedPtr	mip_system_time_sync_status_pub_ = Publisher<MipSystemTimeSyncStatusMsg>::initialize(MIP_SYSTEM_TIME_SYNC_STATUS_TOPIC)

Publisher< NMEASentenceMsg >::SharedPtr	nmea_sentence_pub_ = Publisher<NMEASentenceMsg>::initialize(NMEA_SENTENCE_TOPIC)

TransformStampedMsg	odometer_link_to_imu_link_transform_

Publisher< FluidPressureMsg >::SharedPtr	pressure_pub_ = Publisher<FluidPressureMsg>::initialize(IMU_PRESSURE_TOPIC)

StaticTransformBroadcasterType	static_transform_broadcaster_ = nullptr

TransformBroadcasterType	transform_broadcaster_ = nullptr

Publisher< TwistWithCovarianceStampedMsg >::SharedPtr	wheel_speed_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initialize(IMU_WHEEL_SPEED_TOPIC)

Private Member Functions
void	handleAfterPacket (const mip::PacketRef &packet, mip::Timestamp timestamp)
	Called after a packet has been processed. More...

void	handleFilterAidingMeasurementSummary (const mip::data_filter::AidingMeasurementSummary &aiding_measurement_summary, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterAttitudeQuaternion (const mip::data_filter::AttitudeQuaternion &attitude_quaternion, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterCompAccel (const mip::data_filter::CompAccel &comp_accel, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterCompAngularRate (const mip::data_filter::CompAngularRate &comp_angular_rate, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterEcefPos (const mip::data_filter::EcefPos &ecef_pos, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterEcefPosUncertainty (const mip::data_filter::EcefPosUncertainty &ecef_pos_uncertainty, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterEcefVelocity (const mip::data_filter::EcefVel &ecef_vel, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterEcefVelocityUncertainty (const mip::data_filter::EcefVelUncertainty &ecef_vel_uncertainty, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterEulerAnglesUncertainty (const mip::data_filter::EulerAnglesUncertainty &euler_angles_uncertainty, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterGnssDualAntennaStatus (const mip::data_filter::GnssDualAntennaStatus &gnss_dual_antenna_status, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterGnssPosAidStatus (const mip::data_filter::GnssPosAidStatus &gnss_pos_aid_status, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterLinearAccel (const mip::data_filter::LinearAccel &linear_accel, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterMultiAntennaOffsetCorrection (const mip::data_filter::MultiAntennaOffsetCorrection &multi_antenna_offset_correction, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterPositionLlh (const mip::data_filter::PositionLlh &position_llh, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterPositionLlhUncertainty (const mip::data_filter::PositionLlhUncertainty &position_llh_uncertainty, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterStatus (const mip::data_filter::Status &status, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterTimestamp (const mip::data_filter::Timestamp &filter_timestamp, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterVelocityNed (const mip::data_filter::VelocityNed &velocity_ned, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleFilterVelocityNedUncertainty (const mip::data_filter::VelocityNedUncertainty &velocity_ned_uncertainty, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssFixInfo (const mip::data_gnss::FixInfo &fix_info, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssGpsTime (const mip::data_gnss::GpsTime &gps_time, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssPosEcef (const mip::data_gnss::PosEcef &pos_ecef, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssPosLlh (const mip::data_gnss::PosLlh &pos_llh, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssRfErrorDetection (const mip::data_gnss::RfErrorDetection &rf_error_detection, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssSbasInfo (const mip::data_gnss::SbasInfo &sbas_info, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssVelEcef (const mip::data_gnss::VelEcef &vel_ecef, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleGnssVelNed (const mip::data_gnss::VelNed &vel_ned, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleRtkBaseStationInfo (const mip::data_gnss::BaseStationInfo &base_station_info, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleRtkCorrectionsStatus (const mip::data_gnss::RtkCorrectionsStatus &rtk_corrections_status, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorCompQuaternion (const mip::data_sensor::CompQuaternion &comp_quaternion, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorDeltaTheta (const mip::data_sensor::DeltaTheta &delta_theta, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorDeltaVelocity (const mip::data_sensor::DeltaVelocity &delta_velocity, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorGpsTimestamp (const mip::data_sensor::GpsTimestamp &gps_timestamp, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorOdometerData (const mip::data_sensor::OdometerData &odometer_data, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorOverrangeStatus (const mip::data_sensor::OverrangeStatus &overrange_status, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorScaledAccel (const mip::data_sensor::ScaledAccel &scaled_accel, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorScaledGyro (const mip::data_sensor::ScaledGyro &scaled_gyro, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorScaledMag (const mip::data_sensor::ScaledMag &scaled_mag, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorScaledPressure (const mip::data_sensor::ScaledPressure &scaled_pressure, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSensorTemperatureStatistics (const mip::data_sensor::TemperatureAbs &temperature_statistics, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSharedDeltaTicks (const mip::data_shared::DeltaTicks &delta_ticks, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSharedDeltaTime (const mip::data_shared::DeltaTime &delta_time, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSharedEventSource (const mip::data_shared::EventSource &event_source, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSharedGpsTimestamp (const mip::data_shared::GpsTimestamp &gps_timestamp, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSharedReferenceTimeDelta (const mip::data_shared::ReferenceTimeDelta &reference_time_delta, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSharedReferenceTimestamp (const mip::data_shared::ReferenceTimestamp &reference_timestamp, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSharedTicks (const mip::data_shared::Ticks &ticks, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSystemBuiltInTest (const mip::data_system::BuiltInTest &built_in_test, const uint8_t descriptor_set, mip::Timestamp timestamp)

void	handleSystemTimeSyncStatus (const mip::data_system::TimeSyncStatus &time_sync_status, const uint8_t descriptor_set, mip::Timestamp timestamp)

template<class DataField , void(Publishers::*)(const DataField &, uint8_t, mip::Timestamp) Callback>
void	registerDataCallback (const uint8_t descriptor_set=DataField::DESCRIPTOR_SET)
	Helper function to register a data callback on this class. More...

template<void(Publishers::*)(const mip::PacketRef &, mip::Timestamp) Callback>
void	registerPacketCallback (const uint8_t descriptor_set=mip::C::MIP_DISPATCH_ANY_DESCRIPTOR, bool after_fields=true)
	Helper function to register a packet callback on this class. More...

void	updateHeaderTime (RosHeaderType header, uint8_t descriptor_set, mip::Timestamp timestamp, const mip::data_shared::GpsTimestamp gps_timestamp=nullptr)
	Updates the header's timestamp to the type of timestamp based on the node's configuration. More...

void	updateMipHeader (MipHeaderMsg mip_header, uint8_t descriptor_set, mip::Timestamp timestamp, const mip::data_shared::GpsTimestamp gps_timestamp=nullptr)
	Updates the microstrain header contained in all MIP specific custom messages. More...

Static Private Member Functions
static void	setGpsTime (RosTimeType *time, const mip::data_shared::GpsTimestamp &timestamp)
	Updates the header's timestamp to the UTC representation of the GPS timestamp. More...

Private Attributes
ClockBiasMonitor	clock_bias_monitor_ = ClockBiasMonitor(0.99, 1.0)

Config *	config_

std::map< uint8_t, mip::data_shared::DeltaTicks >	delta_ticks_mapping_

std::map< uint8_t, mip::data_shared::DeltaTime >	delta_time_mapping_

std::map< uint8_t, mip::data_shared::EventSource >	event_source_mapping_

std::map< uint8_t, mip::data_shared::GpsTimestamp >	gps_timestamp_mapping_

bool	has_fix_ = false

bool	has_sbas_ = false

double	last_dual_antenna_heading_gps_timestamp_secs_

double	last_timestamp_ = 0

std::vector< std::shared_ptr< mip::C::mip_dispatch_handler > >	mip_dispatch_handlers_

RosNodeType *	node_

std::map< uint8_t, double >	previous_utc_timestamps_

std::map< uint8_t, mip::data_shared::ReferenceTimeDelta >	reference_time_delta_mapping_

std::map< uint8_t, mip::data_shared::ReferenceTimestamp >	reference_timestamp_mapping_

bool	rtk_fixed_ = false

bool	rtk_float_ = false

std::chrono::time_point< std::chrono::system_clock >	start_time_

bool	supports_filter_ecef_ = false

std::map< uint8_t, mip::data_shared::Ticks >	ticks_mapping_

TransformBufferType	transform_buffer_

TransformListenerType	transform_listener_

Detailed Description

Contains ROS messages and the publishers that will publish them.

Definition at line 33 of file publishers.h.

Constructor & Destructor Documentation

◆ Publishers() [1/2]

microstrain::Publishers::Publishers ( )

default

Default Constructor.

◆ Publishers() [2/2]

microstrain::Publishers::Publishers	(	RosNodeType *	node,
		Config *	config
	)

Constructs this class with a reference to the node, and a config object.

Parameters

node	Reference to a node that will be saved to this class and used to log and interact with ROS
config	Reference to the config object that will be saved to this class and used to determine whether or not to publish

Definition at line 76 of file publishers.cpp.

Member Function Documentation

◆ activate()

bool microstrain::Publishers::activate ( )

Only technically needed for ROS2 lifecycle publishers, this will activate the publishers, so they are ready to be published on.

Returns: true if activation was successful and false if activation failed

Definition at line 405 of file publishers.cpp.

◆ configure()

bool microstrain::Publishers::configure ( )

Configures the publishers.

After this function is called, the publishers will be created, but (ROS2 only) will not be activated

Returns: true if configuration was successful and false if configuration failed

Definition at line 84 of file publishers.cpp.

◆ deactivate()

bool microstrain::Publishers::deactivate ( )

Only technically needed for ROS2 lifecycle publishers, this will deactivate the publishers, so they can be reconfigured and reactivated.

Returns: true if deactivation was successful and false if deactivation failed

Definition at line 468 of file publishers.cpp.

◆ handleAfterPacket()

void microstrain::Publishers::handleAfterPacket	(	const mip::PacketRef &	packet,
		mip::Timestamp	timestamp
	)

private

Called after a packet has been processed.

Parameters

packet	The packet that was processed
timestamp	The timestamp of when the packet was received

Definition at line 2099 of file publishers.cpp.

◆ handleFilterAidingMeasurementSummary()

void microstrain::Publishers::handleFilterAidingMeasurementSummary	(	const mip::data_filter::AidingMeasurementSummary &	aiding_measurement_summary,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1887 of file publishers.cpp.

◆ handleFilterAttitudeQuaternion()

void microstrain::Publishers::handleFilterAttitudeQuaternion	(	const mip::data_filter::AttitudeQuaternion &	attitude_quaternion,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1459 of file publishers.cpp.

◆ handleFilterCompAccel()

void microstrain::Publishers::handleFilterCompAccel	(	const mip::data_filter::CompAccel &	comp_accel,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1701 of file publishers.cpp.

◆ handleFilterCompAngularRate()

void microstrain::Publishers::handleFilterCompAngularRate	(	const mip::data_filter::CompAngularRate &	comp_angular_rate,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1653 of file publishers.cpp.

◆ handleFilterEcefPos()

void microstrain::Publishers::handleFilterEcefPos	(	const mip::data_filter::EcefPos &	ecef_pos,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1279 of file publishers.cpp.

◆ handleFilterEcefPosUncertainty()

void microstrain::Publishers::handleFilterEcefPosUncertainty	(	const mip::data_filter::EcefPosUncertainty &	ecef_pos_uncertainty,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1372 of file publishers.cpp.

◆ handleFilterEcefVelocity()

void microstrain::Publishers::handleFilterEcefVelocity	(	const mip::data_filter::EcefVel &	ecef_vel,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1633 of file publishers.cpp.

◆ handleFilterEcefVelocityUncertainty()

void microstrain::Publishers::handleFilterEcefVelocityUncertainty	(	const mip::data_filter::EcefVelUncertainty &	ecef_vel_uncertainty,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1643 of file publishers.cpp.

◆ handleFilterEulerAnglesUncertainty()

void microstrain::Publishers::handleFilterEulerAnglesUncertainty	(	const mip::data_filter::EulerAnglesUncertainty &	euler_angles_uncertainty,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1512 of file publishers.cpp.

◆ handleFilterGnssDualAntennaStatus()

void microstrain::Publishers::handleFilterGnssDualAntennaStatus	(	const mip::data_filter::GnssDualAntennaStatus &	gnss_dual_antenna_status,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1835 of file publishers.cpp.

◆ handleFilterGnssPosAidStatus()

void microstrain::Publishers::handleFilterGnssPosAidStatus	(	const mip::data_filter::GnssPosAidStatus &	gnss_pos_aid_status,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1735 of file publishers.cpp.

◆ handleFilterLinearAccel()

void microstrain::Publishers::handleFilterLinearAccel	(	const mip::data_filter::LinearAccel &	linear_accel,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1718 of file publishers.cpp.

◆ handleFilterMultiAntennaOffsetCorrection()

void microstrain::Publishers::handleFilterMultiAntennaOffsetCorrection	(	const mip::data_filter::MultiAntennaOffsetCorrection &	multi_antenna_offset_correction,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1806 of file publishers.cpp.

◆ handleFilterPositionLlh()

void microstrain::Publishers::handleFilterPositionLlh	(	const mip::data_filter::PositionLlh &	position_llh,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1381 of file publishers.cpp.

◆ handleFilterPositionLlhUncertainty()

void microstrain::Publishers::handleFilterPositionLlhUncertainty	(	const mip::data_filter::PositionLlhUncertainty &	position_llh_uncertainty,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1400 of file publishers.cpp.

◆ handleFilterStatus()

void microstrain::Publishers::handleFilterStatus	(	const mip::data_filter::Status &	status,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1131 of file publishers.cpp.

◆ handleFilterTimestamp()

void microstrain::Publishers::handleFilterTimestamp	(	const mip::data_filter::Timestamp &	filter_timestamp,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1121 of file publishers.cpp.

◆ handleFilterVelocityNed()

void microstrain::Publishers::handleFilterVelocityNed	(	const mip::data_filter::VelocityNed &	velocity_ned,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1558 of file publishers.cpp.

◆ handleFilterVelocityNedUncertainty()

void microstrain::Publishers::handleFilterVelocityNedUncertainty	(	const mip::data_filter::VelocityNedUncertainty &	velocity_ned_uncertainty,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1602 of file publishers.cpp.

◆ handleGnssFixInfo()

void microstrain::Publishers::handleGnssFixInfo	(	const mip::data_gnss::FixInfo &	fix_info,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 973 of file publishers.cpp.

◆ handleGnssGpsTime()

void microstrain::Publishers::handleGnssGpsTime	(	const mip::data_gnss::GpsTime &	gps_time,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 830 of file publishers.cpp.

◆ handleGnssPosEcef()

void microstrain::Publishers::handleGnssPosEcef	(	const mip::data_gnss::PosEcef &	pos_ecef,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 945 of file publishers.cpp.

◆ handleGnssPosLlh()

void microstrain::Publishers::handleGnssPosLlh	(	const mip::data_gnss::PosLlh &	pos_llh,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 858 of file publishers.cpp.

◆ handleGnssRfErrorDetection()

void microstrain::Publishers::handleGnssRfErrorDetection	(	const mip::data_gnss::RfErrorDetection &	rf_error_detection,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 999 of file publishers.cpp.

◆ handleGnssSbasInfo()

void microstrain::Publishers::handleGnssSbasInfo	(	const mip::data_gnss::SbasInfo &	sbas_info,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1024 of file publishers.cpp.

◆ handleGnssVelEcef()

void microstrain::Publishers::handleGnssVelEcef	(	const mip::data_gnss::VelEcef &	vel_ecef,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 959 of file publishers.cpp.

◆ handleGnssVelNed()

void microstrain::Publishers::handleGnssVelNed	(	const mip::data_gnss::VelNed &	vel_ned,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 876 of file publishers.cpp.

◆ handleRtkBaseStationInfo()

void microstrain::Publishers::handleRtkBaseStationInfo	(	const mip::data_gnss::BaseStationInfo &	base_station_info,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1091 of file publishers.cpp.

◆ handleRtkCorrectionsStatus()

void microstrain::Publishers::handleRtkCorrectionsStatus	(	const mip::data_gnss::RtkCorrectionsStatus &	rtk_corrections_status,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1055 of file publishers.cpp.

◆ handleSensorCompQuaternion()

void microstrain::Publishers::handleSensorCompQuaternion	(	const mip::data_sensor::CompQuaternion &	comp_quaternion,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 748 of file publishers.cpp.

◆ handleSensorDeltaTheta()

void microstrain::Publishers::handleSensorDeltaTheta	(	const mip::data_sensor::DeltaTheta &	delta_theta,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 705 of file publishers.cpp.

◆ handleSensorDeltaVelocity()

void microstrain::Publishers::handleSensorDeltaVelocity	(	const mip::data_sensor::DeltaVelocity &	delta_velocity,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 727 of file publishers.cpp.

◆ handleSensorGpsTimestamp()

void microstrain::Publishers::handleSensorGpsTimestamp	(	const mip::data_sensor::GpsTimestamp &	gps_timestamp,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 665 of file publishers.cpp.

◆ handleSensorOdometerData()

void microstrain::Publishers::handleSensorOdometerData	(	const mip::data_sensor::OdometerData &	odometer_data,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 786 of file publishers.cpp.

◆ handleSensorOverrangeStatus()

void microstrain::Publishers::handleSensorOverrangeStatus	(	const mip::data_sensor::OverrangeStatus &	overrange_status,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 803 of file publishers.cpp.

◆ handleSensorScaledAccel()

void microstrain::Publishers::handleSensorScaledAccel	(	const mip::data_sensor::ScaledAccel &	scaled_accel,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 677 of file publishers.cpp.

◆ handleSensorScaledGyro()

void microstrain::Publishers::handleSensorScaledGyro	(	const mip::data_sensor::ScaledGyro &	scaled_gyro,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 691 of file publishers.cpp.

◆ handleSensorScaledMag()

void microstrain::Publishers::handleSensorScaledMag	(	const mip::data_sensor::ScaledMag &	scaled_mag,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 765 of file publishers.cpp.

◆ handleSensorScaledPressure()

void microstrain::Publishers::handleSensorScaledPressure	(	const mip::data_sensor::ScaledPressure &	scaled_pressure,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 779 of file publishers.cpp.

◆ handleSensorTemperatureStatistics()

void microstrain::Publishers::handleSensorTemperatureStatistics	(	const mip::data_sensor::TemperatureAbs &	temperature_statistics,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 820 of file publishers.cpp.

◆ handleSharedDeltaTicks()

void microstrain::Publishers::handleSharedDeltaTicks	(	const mip::data_shared::DeltaTicks &	delta_ticks,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 615 of file publishers.cpp.

◆ handleSharedDeltaTime()

void microstrain::Publishers::handleSharedDeltaTime	(	const mip::data_shared::DeltaTime &	delta_time,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 650 of file publishers.cpp.

◆ handleSharedEventSource()

void microstrain::Publishers::handleSharedEventSource	(	const mip::data_shared::EventSource &	event_source,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 605 of file publishers.cpp.

◆ handleSharedGpsTimestamp()

void microstrain::Publishers::handleSharedGpsTimestamp	(	const mip::data_shared::GpsTimestamp &	gps_timestamp,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 620 of file publishers.cpp.

◆ handleSharedReferenceTimeDelta()

void microstrain::Publishers::handleSharedReferenceTimeDelta	(	const mip::data_shared::ReferenceTimeDelta &	reference_time_delta,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 660 of file publishers.cpp.

◆ handleSharedReferenceTimestamp()

void microstrain::Publishers::handleSharedReferenceTimestamp	(	const mip::data_shared::ReferenceTimestamp &	reference_timestamp,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 655 of file publishers.cpp.

◆ handleSharedTicks()

void microstrain::Publishers::handleSharedTicks	(	const mip::data_shared::Ticks &	ticks,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 610 of file publishers.cpp.

◆ handleSystemBuiltInTest()

void microstrain::Publishers::handleSystemBuiltInTest	(	const mip::data_system::BuiltInTest &	built_in_test,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 1904 of file publishers.cpp.

◆ handleSystemTimeSyncStatus()

void microstrain::Publishers::handleSystemTimeSyncStatus	(	const mip::data_system::TimeSyncStatus &	time_sync_status,
		const uint8_t	descriptor_set,
		mip::Timestamp	timestamp
	)

private

Definition at line 2090 of file publishers.cpp.

◆ publish()

void microstrain::Publishers::publish ( )

Publishes all messages that have changed and are configured to be published.

Definition at line 511 of file publishers.cpp.

◆ registerDataCallback()

template<class DataField , void(Publishers::*)(const DataField &, uint8_t, mip::Timestamp) Callback>

void microstrain::Publishers::registerDataCallback ( const uint8_t descriptor_set = DataField::DESCRIPTOR_SET )

private

Helper function to register a data callback on this class.

Template Parameters

DataField	The type of data to listen for
Callback	The Callback function on this class to call when the data is received

Parameters

descriptor_set The descriptor set to use for the DataField. Defaults to the DataField's descriptor set

Definition at line 471 of file publishers.h.

◆ registerPacketCallback()

template<void(Publishers::*)(const mip::PacketRef &, mip::Timestamp) Callback>

void microstrain::Publishers::registerPacketCallback	(	const uint8_t	descriptor_set = `mip::C::MIP_DISPATCH_ANY_DESCRIPTOR`,
		bool	after_fields = `true`
	)

private

Helper function to register a packet callback on this class.

Template Parameters

Callback The Callback function on this class to call when the data is received

Parameters

descriptor_set	The descriptor set to register the packet callback for
after_fields	Whether this callback should be triggered before or after the field callbacks

Definition at line 461 of file publishers.h.

◆ setGpsTime()

void microstrain::Publishers::setGpsTime	(	RosTimeType *	time,
		const mip::data_shared::GpsTimestamp &	timestamp
	)

staticprivate

Updates the header's timestamp to the UTC representation of the GPS timestamp.

Parameters

header	The time object to set the time on
timestamp	The GPS timestamp to use to update the header

Definition at line 2192 of file publishers.cpp.

◆ updateHeaderTime()

void microstrain::Publishers::updateHeaderTime	(	RosHeaderType *	header,
		uint8_t	descriptor_set,
		mip::Timestamp	timestamp,
		const mip::data_shared::GpsTimestamp *	gps_timestamp = `nullptr`
	)

private

Updates the header's timestamp to the type of timestamp based on the node's configuration.

Parameters

header	The header to update the timestamp of
descriptor_set	The descriptor set that should be used to lookup the timestamp if we want to use the device timestamp
timestamp	The timestamp provided by the MIP SDK for when the packet was received
gps_timestamp	Optional timestamp to use instead of the most recent GPS timestamp. Only used if non-null

Definition at line 2151 of file publishers.cpp.

◆ updateMipHeader()

void microstrain::Publishers::updateMipHeader	(	MipHeaderMsg *	mip_header,
		uint8_t	descriptor_set,
		mip::Timestamp	timestamp,
		const mip::data_shared::GpsTimestamp *	gps_timestamp = `nullptr`
	)

private

Updates the microstrain header contained in all MIP specific custom messages.

Parameters

mip_header	The header to update
descriptor_set	The descriptor set that the message comes from
timestamp	The timstamp that the data was collected at
gps_timestamp	Optional timestamp to use instead of the most recent GPS timestamp. Only used if non-null

Definition at line 2115 of file publishers.cpp.

Member Data Documentation

◆ clock_bias_monitor_

ClockBiasMonitor microstrain::Publishers::clock_bias_monitor_ = ClockBiasMonitor(0.99, 1.0)

private

Definition at line 457 of file publishers.h.

◆ config_

Config* microstrain::Publishers::config_

private

Definition at line 423 of file publishers.h.

◆ delta_ticks_mapping_

std::map<uint8_t, mip::data_shared::DeltaTicks> microstrain::Publishers::delta_ticks_mapping_

private

Definition at line 428 of file publishers.h.

◆ delta_time_mapping_

std::map<uint8_t, mip::data_shared::DeltaTime> microstrain::Publishers::delta_time_mapping_

private

Definition at line 430 of file publishers.h.

◆ event_source_mapping_

std::map<uint8_t, mip::data_shared::EventSource> microstrain::Publishers::event_source_mapping_

private

Definition at line 426 of file publishers.h.

◆ filter_dual_antenna_heading_pub_

Publisher<PoseWithCovarianceStampedMsg>::SharedPtr microstrain::Publishers::filter_dual_antenna_heading_pub_ = Publisher<PoseWithCovarianceStampedMsg>::initialize(FILTER_DUAL_ANTENNA_HEADING_TOPIC)

Definition at line 259 of file publishers.h.

◆ filter_human_readable_status_pub_

Publisher<HumanReadableStatusMsg>::SharedPtr microstrain::Publishers::filter_human_readable_status_pub_ = Publisher<HumanReadableStatusMsg>::initialize(FILTER_HUMAN_READABLE_STATUS_TOPIC)

Definition at line 252 of file publishers.h.

◆ filter_imu_pub_

Publisher<ImuMsg>::SharedPtr microstrain::Publishers::filter_imu_pub_ = Publisher<ImuMsg>::initialize(FILTER_IMU_DATA_TOPIC)

Definition at line 253 of file publishers.h.

◆ filter_llh_position_pub_

Publisher<NavSatFixMsg>::SharedPtr microstrain::Publishers::filter_llh_position_pub_ = Publisher<NavSatFixMsg>::initialize(FILTER_LLH_POSITION_TOPIC)

Definition at line 254 of file publishers.h.

◆ filter_odometry_earth_pub_

Publisher<OdometryMsg>::SharedPtr microstrain::Publishers::filter_odometry_earth_pub_ = Publisher<OdometryMsg>::initialize(FILTER_ODOMETRY_EARTH_TOPIC )

Definition at line 255 of file publishers.h.

◆ filter_odometry_map_pub_

Publisher<OdometryMsg>::SharedPtr microstrain::Publishers::filter_odometry_map_pub_ = Publisher<OdometryMsg>::initialize(FILTER_ODOMETRY_MAP_TOPIC)

Definition at line 256 of file publishers.h.

◆ filter_velocity_ecef_pub_

Publisher<TwistWithCovarianceStampedMsg>::SharedPtr microstrain::Publishers::filter_velocity_ecef_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initialize(FILTER_VELOCITY_ECEF_TOPIC)

Definition at line 258 of file publishers.h.

◆ filter_velocity_pub_

Publisher<TwistWithCovarianceStampedMsg>::SharedPtr microstrain::Publishers::filter_velocity_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initialize(FILTER_VELOCITY_TOPIC)

Definition at line 257 of file publishers.h.

◆ gnss_antenna_link_to_imu_link_transform_

TransformStampedMsg microstrain::Publishers::gnss_antenna_link_to_imu_link_transform_[NUM_GNSS]

Definition at line 303 of file publishers.h.

◆ gnss_llh_position_pub_

Publisher<NavSatFixMsg>::SharedPtrVec microstrain::Publishers::gnss_llh_position_pub_ = Publisher<NavSatFixMsg>::initializeVec({GNSS1_LLH_POSITION_TOPIC, GNSS2_FIX_TOPIC})

Definition at line 245 of file publishers.h.

◆ gnss_odometry_pub_

Publisher<OdometryMsg>::SharedPtrVec microstrain::Publishers::gnss_odometry_pub_ = Publisher<OdometryMsg>::initializeVec({GNSS1_ODOMETRY_TOPIC, GNSS2_ODOMETRY_TOPIC})

Definition at line 248 of file publishers.h.

◆ gnss_time_pub_

Publisher<TimeReferenceMsg>::SharedPtrVec microstrain::Publishers::gnss_time_pub_ = Publisher<TimeReferenceMsg>::initializeVec({GNSS1_TIME_REF_TOPIC, GNSS2_TIME_REF_TOPIC})

Definition at line 249 of file publishers.h.

◆ gnss_velocity_ecef_pub_

Publisher<TwistWithCovarianceStampedMsg>::SharedPtrVec microstrain::Publishers::gnss_velocity_ecef_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initializeVec({GNSS1_VELOCITY_ECEF_TOPIC, GNSS2_VELOCITY_ECEF_TOPIC})

Definition at line 247 of file publishers.h.

◆ gnss_velocity_pub_

Publisher<TwistWithCovarianceStampedMsg>::SharedPtrVec microstrain::Publishers::gnss_velocity_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initializeVec({GNSS1_VELOCITY_TOPIC, GNSS2_VELOCITY_TOPIC})

Definition at line 246 of file publishers.h.

◆ gps_timestamp_mapping_

std::map<uint8_t, mip::data_shared::GpsTimestamp> microstrain::Publishers::gps_timestamp_mapping_

private

Definition at line 429 of file publishers.h.

◆ has_fix_

bool microstrain::Publishers::has_fix_ = false

private

Definition at line 444 of file publishers.h.

◆ has_sbas_

bool microstrain::Publishers::has_sbas_ = false

private

Definition at line 443 of file publishers.h.

◆ imu_link_to_earth_transform_attitude_updated_

bool microstrain::Publishers::imu_link_to_earth_transform_attitude_updated_ = false

Definition at line 294 of file publishers.h.

◆ imu_link_to_earth_transform_tf_stamped_

tf2::Stamped<tf2::Transform> microstrain::Publishers::imu_link_to_earth_transform_tf_stamped_

Definition at line 299 of file publishers.h.

◆ imu_link_to_earth_transform_translation_updated_

bool microstrain::Publishers::imu_link_to_earth_transform_translation_updated_ = false

Definition at line 293 of file publishers.h.

◆ imu_link_to_map_transform_attitude_updated_

bool microstrain::Publishers::imu_link_to_map_transform_attitude_updated_ = false

Definition at line 296 of file publishers.h.

◆ imu_link_to_map_transform_tf_stamped_

tf2::Stamped<tf2::Transform> microstrain::Publishers::imu_link_to_map_transform_tf_stamped_

Definition at line 300 of file publishers.h.

◆ imu_link_to_map_transform_translation_updated_

bool microstrain::Publishers::imu_link_to_map_transform_translation_updated_ = false

Definition at line 295 of file publishers.h.

◆ imu_pub_

Publisher<ImuMsg>::SharedPtr microstrain::Publishers::imu_pub_ = Publisher<ImuMsg>::initialize(IMU_DATA_TOPIC)

Definition at line 239 of file publishers.h.

◆ imu_raw_pub_

Publisher<ImuMsg>::SharedPtr microstrain::Publishers::imu_raw_pub_ = Publisher<ImuMsg>::initialize(IMU_DATA_RAW_TOPIC)

Definition at line 238 of file publishers.h.

◆ last_dual_antenna_heading_gps_timestamp_secs_

double microstrain::Publishers::last_dual_antenna_heading_gps_timestamp_secs_

private

Definition at line 451 of file publishers.h.

◆ last_timestamp_

double microstrain::Publishers::last_timestamp_ = 0

private

Definition at line 454 of file publishers.h.

◆ mag_pub_

Publisher<MagneticFieldMsg>::SharedPtr microstrain::Publishers::mag_pub_ = Publisher<MagneticFieldMsg>::initialize(IMU_MAG_TOPIC)

Definition at line 240 of file publishers.h.

◆ mip_dispatch_handlers_

std::vector<std::shared_ptr<mip::C::mip_dispatch_handler> > microstrain::Publishers::mip_dispatch_handlers_

private

Definition at line 419 of file publishers.h.

◆ mip_filter_aiding_measurement_summary_pub_

Publisher<MipFilterAidingMeasurementSummaryMsg>::SharedPtr microstrain::Publishers::mip_filter_aiding_measurement_summary_pub_ = Publisher<MipFilterAidingMeasurementSummaryMsg>::initialize(MIP_FILTER_AIDING_MEASUREMENT_SUMMARY_TOPIC)

Definition at line 278 of file publishers.h.

◆ mip_filter_gnss_dual_antenna_status_pub_

Publisher<MipFilterGnssDualAntennaStatusMsg>::SharedPtr microstrain::Publishers::mip_filter_gnss_dual_antenna_status_pub_ = Publisher<MipFilterGnssDualAntennaStatusMsg>::initialize(MIP_FILTER_GNSS_DUAL_ANTENNA_STATUS_TOPIC)

Definition at line 279 of file publishers.h.

◆ mip_filter_gnss_position_aiding_status_pub_

Publisher<MipFilterGnssPositionAidingStatusMsg>::SharedPtr microstrain::Publishers::mip_filter_gnss_position_aiding_status_pub_ = Publisher<MipFilterGnssPositionAidingStatusMsg>::initialize(MIP_FILTER_GNSS_POSITION_AIDING_STATUS_TOPIC)

Definition at line 276 of file publishers.h.

◆ mip_filter_multi_antenna_offset_correction_pub_

Publisher<MipFilterMultiAntennaOffsetCorrectionMsg>::SharedPtr microstrain::Publishers::mip_filter_multi_antenna_offset_correction_pub_ = Publisher<MipFilterMultiAntennaOffsetCorrectionMsg>::initialize(MIP_FILTER_MULTI_ANTENNA_OFFSET_CORRECTION_TOPIC)

Definition at line 277 of file publishers.h.

◆ mip_filter_status_pub_

Publisher<MipFilterStatusMsg>::SharedPtr microstrain::Publishers::mip_filter_status_pub_ = Publisher<MipFilterStatusMsg>::initialize(MIP_FILTER_STATUS_TOPIC)

Definition at line 275 of file publishers.h.

◆ mip_gnss_corrections_rtk_corrections_status_pub_

Publisher<MipGnssCorrectionsRtkCorrectionsStatusMsg>::SharedPtr microstrain::Publishers::mip_gnss_corrections_rtk_corrections_status_pub_ = Publisher<MipGnssCorrectionsRtkCorrectionsStatusMsg>::initialize(MIP_GNSS_CORRECTIONS_RTK_CORRECTIONS_STATUS_TOPIC)

Definition at line 272 of file publishers.h.

◆ mip_gnss_fix_info_pub_

Publisher<MipGnssFixInfoMsg>::SharedPtrVec microstrain::Publishers::mip_gnss_fix_info_pub_ = Publisher<MipGnssFixInfoMsg>::initializeVec({MIP_GNSS1_FIX_INFO_TOPIC, MIP_GNSS2_FIX_INFO_TOPIC})

Definition at line 267 of file publishers.h.

◆ mip_gnss_rf_error_detection_pub_

Publisher<MipGnssRfErrorDetectionMsg>::SharedPtrVec microstrain::Publishers::mip_gnss_rf_error_detection_pub_ = Publisher<MipGnssRfErrorDetectionMsg>::initializeVec({MIP_GNSS1_RF_ERROR_DETECTION_TOPIC, MIP_GNSS2_RF_ERROR_DETECTION_TOPIC})

Definition at line 269 of file publishers.h.

◆ mip_gnss_sbas_info_pub_

Publisher<MipGnssSbasInfoMsg>::SharedPtrVec microstrain::Publishers::mip_gnss_sbas_info_pub_ = Publisher<MipGnssSbasInfoMsg>::initializeVec({MIP_GNSS1_SBAS_INFO_TOPIC, MIP_GNSS2_SBAS_INFO_TOPIC})

Definition at line 268 of file publishers.h.

◆ mip_sensor_overrange_status_pub_

Publisher<MipSensorOverrangeStatusMsg>::SharedPtr microstrain::Publishers::mip_sensor_overrange_status_pub_ = Publisher<MipSensorOverrangeStatusMsg>::initialize(MIP_SENSOR_OVERRANGE_STATUS_TOPIC)

Definition at line 263 of file publishers.h.

◆ mip_sensor_temperature_statistics_pub_

Publisher<MipSensorTemperatureStatisticsMsg>::SharedPtr microstrain::Publishers::mip_sensor_temperature_statistics_pub_ = Publisher<MipSensorTemperatureStatisticsMsg>::initialize(MIP_SENSOR_TEMPERATURE_STATISTICS_TOPIC)

Definition at line 264 of file publishers.h.

◆ mip_system_built_in_test_pub_

Publisher<MipSystemBuiltInTestMsg>::SharedPtr microstrain::Publishers::mip_system_built_in_test_pub_ = Publisher<MipSystemBuiltInTestMsg>::initialize(MIP_SYSTEM_BUILT_IN_TEST_TOPIC)

Definition at line 282 of file publishers.h.

◆ mip_system_time_sync_status_pub_

Publisher<MipSystemTimeSyncStatusMsg>::SharedPtr microstrain::Publishers::mip_system_time_sync_status_pub_ = Publisher<MipSystemTimeSyncStatusMsg>::initialize(MIP_SYSTEM_TIME_SYNC_STATUS_TOPIC)

Definition at line 283 of file publishers.h.

◆ nmea_sentence_pub_

Publisher<NMEASentenceMsg>::SharedPtr microstrain::Publishers::nmea_sentence_pub_ = Publisher<NMEASentenceMsg>::initialize(NMEA_SENTENCE_TOPIC)

Definition at line 286 of file publishers.h.

◆ node_

RosNodeType* microstrain::Publishers::node_

private

Definition at line 422 of file publishers.h.

◆ odometer_link_to_imu_link_transform_

TransformStampedMsg microstrain::Publishers::odometer_link_to_imu_link_transform_

Definition at line 304 of file publishers.h.

◆ pressure_pub_

Publisher<FluidPressureMsg>::SharedPtr microstrain::Publishers::pressure_pub_ = Publisher<FluidPressureMsg>::initialize(IMU_PRESSURE_TOPIC)

Definition at line 241 of file publishers.h.

◆ previous_utc_timestamps_

std::map<uint8_t, double> microstrain::Publishers::previous_utc_timestamps_

private

Definition at line 435 of file publishers.h.

◆ reference_time_delta_mapping_

std::map<uint8_t, mip::data_shared::ReferenceTimeDelta> microstrain::Publishers::reference_time_delta_mapping_

private

Definition at line 432 of file publishers.h.

◆ reference_timestamp_mapping_

std::map<uint8_t, mip::data_shared::ReferenceTimestamp> microstrain::Publishers::reference_timestamp_mapping_

private

Definition at line 431 of file publishers.h.

◆ rtk_fixed_

bool microstrain::Publishers::rtk_fixed_ = false

private

Definition at line 441 of file publishers.h.

◆ rtk_float_

bool microstrain::Publishers::rtk_float_ = false

private

Definition at line 442 of file publishers.h.

◆ start_time_

std::chrono::time_point<std::chrono::system_clock> microstrain::Publishers::start_time_

private

Definition at line 453 of file publishers.h.

◆ static_transform_broadcaster_

StaticTransformBroadcasterType microstrain::Publishers::static_transform_broadcaster_ = nullptr

Definition at line 289 of file publishers.h.

◆ supports_filter_ecef_

bool microstrain::Publishers::supports_filter_ecef_ = false

private

Definition at line 438 of file publishers.h.

◆ ticks_mapping_

std::map<uint8_t, mip::data_shared::Ticks> microstrain::Publishers::ticks_mapping_

private

Definition at line 427 of file publishers.h.

◆ transform_broadcaster_

TransformBroadcasterType microstrain::Publishers::transform_broadcaster_ = nullptr

Definition at line 290 of file publishers.h.

◆ transform_buffer_

TransformBufferType microstrain::Publishers::transform_buffer_

private

Definition at line 447 of file publishers.h.

◆ transform_listener_

TransformListenerType microstrain::Publishers::transform_listener_

private

Definition at line 448 of file publishers.h.

◆ wheel_speed_pub_

Publisher<TwistWithCovarianceStampedMsg>::SharedPtr microstrain::Publishers::wheel_speed_pub_ = Publisher<TwistWithCovarianceStampedMsg>::initialize(IMU_WHEEL_SPEED_TOPIC)

Definition at line 242 of file publishers.h.

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

Classes

Public Member Functions

Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Publishers() [1/2]

◆ Publishers() [2/2]

Member Function Documentation

◆ activate()

◆ configure()

◆ deactivate()

◆ handleAfterPacket()

◆ handleFilterAidingMeasurementSummary()

◆ handleFilterAttitudeQuaternion()

◆ handleFilterCompAccel()

◆ handleFilterCompAngularRate()

◆ handleFilterEcefPos()

◆ handleFilterEcefPosUncertainty()

◆ handleFilterEcefVelocity()

◆ handleFilterEcefVelocityUncertainty()

◆ handleFilterEulerAnglesUncertainty()

◆ handleFilterGnssDualAntennaStatus()

◆ handleFilterGnssPosAidStatus()

◆ handleFilterLinearAccel()

◆ handleFilterMultiAntennaOffsetCorrection()

◆ handleFilterPositionLlh()

◆ handleFilterPositionLlhUncertainty()

◆ handleFilterStatus()

◆ handleFilterTimestamp()

◆ handleFilterVelocityNed()

◆ handleFilterVelocityNedUncertainty()

◆ handleGnssFixInfo()

◆ handleGnssGpsTime()

◆ handleGnssPosEcef()

◆ handleGnssPosLlh()

◆ handleGnssRfErrorDetection()

◆ handleGnssSbasInfo()

◆ handleGnssVelEcef()

◆ handleGnssVelNed()

◆ handleRtkBaseStationInfo()

◆ handleRtkCorrectionsStatus()

◆ handleSensorCompQuaternion()

◆ handleSensorDeltaTheta()

◆ handleSensorDeltaVelocity()

◆ handleSensorGpsTimestamp()

◆ handleSensorOdometerData()

◆ handleSensorOverrangeStatus()

◆ handleSensorScaledAccel()

◆ handleSensorScaledGyro()

◆ handleSensorScaledMag()

◆ handleSensorScaledPressure()

◆ handleSensorTemperatureStatistics()

◆ handleSharedDeltaTicks()

◆ handleSharedDeltaTime()

◆ handleSharedEventSource()

◆ handleSharedGpsTimestamp()

◆ handleSharedReferenceTimeDelta()

◆ handleSharedReferenceTimestamp()

◆ handleSharedTicks()

◆ handleSystemBuiltInTest()

◆ handleSystemTimeSyncStatus()

◆ publish()

◆ registerDataCallback()

◆ registerPacketCallback()

◆ setGpsTime()

◆ updateHeaderTime()

◆ updateMipHeader()

Member Data Documentation

◆ clock_bias_monitor_

◆ config_

◆ delta_ticks_mapping_

◆ delta_time_mapping_

◆ event_source_mapping_

◆ filter_dual_antenna_heading_pub_

◆ filter_human_readable_status_pub_

◆ filter_imu_pub_

◆ filter_llh_position_pub_