#include <settings.hpp>
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... | |
| bool | configure_rx |
| 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. More... | |
| std::string | device_tcp_ip |
| TCP IP. More... | |
| std::string | device_tcp_port |
| TCP port. More... | |
| device_type::DeviceType | device_type |
| Device type. More... | |
| std::string | file_name |
| Filename. 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... | |
| 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... | |
| bool | latency_compensation |
| Wether processing latency shall be compensated for in ROS timestamp. More... | |
| int32_t | leap_seconds = -128 |
| 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... | |
| Osnma | osnma |
| OSNMA settings. 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_aimplusstatus |
| 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_galauthstatus |
| Whether or not to publish the GALAuthStatus message and diagnostics. 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_localization_ecef |
| 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_tf_ecef |
| 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_velcovcartesian |
| 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 |
| Rtk | rtk |
| RTK corrections settings. More... | |
| std::string | septentrio_receiver_type |
| Septentrio receiver type, either "gnss" or "ins". More... | |
| std::string | tcp_ip_server |
| TCP IP server id. More... | |
| uint32_t | tcp_port |
| TCP port. 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... | |
| std::string | udp_ip_server |
| UDP IP server id. More... | |
| uint32_t | udp_port |
| UDP port. More... | |
| std::string | udp_unicast_ip |
| UDP unicast destination ip. 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 123 of file settings.hpp.
| bool Settings::activate_debug_log |
Set logger level to DEBUG.
Definition at line 126 of file settings.hpp.
| std::string Settings::ant_aux1_serial_nr |
Serial number of your particular Aux1 antenna.
Definition at line 181 of file settings.hpp.
| std::string Settings::ant_aux1_type |
Aux1 antenna type, from the list returned by the command "lstAntennaInfo, Overview"
Definition at line 177 of file settings.hpp.
| double Settings::ant_lever_x |
INS antenna lever arm x-offset.
Definition at line 191 of file settings.hpp.
| double Settings::ant_lever_y |
INS antenna lever arm y-offset.
Definition at line 193 of file settings.hpp.
| double Settings::ant_lever_z |
INS antenna lever arm z-offset.
Definition at line 195 of file settings.hpp.
| std::string Settings::ant_serial_nr |
Serial number of your particular Main antenna.
Definition at line 179 of file settings.hpp.
| std::string Settings::ant_type |
Main antenna type, from the list returned by the command "lstAntennaInfo, Overview"
Definition at line 174 of file settings.hpp.
| float Settings::att_std_dev |
Attitude deviation mask.
Definition at line 219 of file settings.hpp.
| std::string Settings::aux1_frame_id |
The frame ID of the aux1 antenna.
Definition at line 325 of file settings.hpp.
| uint32_t Settings::baudrate |
Baudrate.
Definition at line 155 of file settings.hpp.
| bool Settings::configure_rx |
Definition at line 159 of file settings.hpp.
| std::string Settings::datum |
Datum to be used.
Definition at line 161 of file settings.hpp.
| float Settings::delta_e |
Marker-to-ARP offset in the eastward direction.
Definition at line 167 of file settings.hpp.
| float Settings::delta_n |
Marker-to-ARP offset in the northward direction.
Definition at line 169 of file settings.hpp.
| float Settings::delta_u |
Marker-to-ARP offset in the upward direction.
Definition at line 171 of file settings.hpp.
| std::string Settings::device |
Device.
Definition at line 128 of file settings.hpp.
| std::string Settings::device_tcp_ip |
TCP IP.
Definition at line 132 of file settings.hpp.
| std::string Settings::device_tcp_port |
TCP port.
Definition at line 134 of file settings.hpp.
| device_type::DeviceType Settings::device_type |
Device type.
Definition at line 130 of file settings.hpp.
| std::string Settings::file_name |
Filename.
Definition at line 146 of file settings.hpp.
| std::string Settings::frame_id |
The frame ID used in the header of every published ROS message.
Definition at line 316 of file settings.hpp.
| double Settings::heading_offset |
Attitude offset determination in longitudinal direction.
Definition at line 209 of file settings.hpp.
| std::string Settings::hw_flow_control |
HW flow control.
Definition at line 157 of file settings.hpp.
| std::string Settings::imu_frame_id |
The frame ID used in the header of published ROS Imu message.
Definition at line 318 of file settings.hpp.
| std::string Settings::ins_initial_heading |
For heading computation when unit is powered-cycled.
Definition at line 217 of file settings.hpp.
| bool Settings::ins_use_poi |
INS solution reference point.
Definition at line 215 of file settings.hpp.
| std::string Settings::ins_vsm_ip_server_id |
VSM IP server id.
Definition at line 345 of file settings.hpp.
| bool Settings::ins_vsm_ip_server_keep_open |
Wether VSM shall be kept open om shutdown.
Definition at line 349 of file settings.hpp.
| uint32_t Settings::ins_vsm_ip_server_port |
VSM tcp port.
Definition at line 347 of file settings.hpp.
| 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 339 of file settings.hpp.
| std::string Settings::ins_vsm_ros_source |
VSM source for INS.
Definition at line 337 of file settings.hpp.
| 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 343 of file settings.hpp.
| bool Settings::ins_vsm_ros_variances_by_parameter = false |
Whether or not to use variance defined by ROS parameter.
Definition at line 341 of file settings.hpp.
| uint32_t Settings::ins_vsm_serial_baud_rate |
VSM serial baud rate.
Definition at line 353 of file settings.hpp.
| bool Settings::ins_vsm_serial_keep_open |
Wether VSM shall be kept open om shutdown.
Definition at line 355 of file settings.hpp.
| std::string Settings::ins_vsm_serial_port |
VSM serial port.
Definition at line 351 of file settings.hpp.
| bool Settings::insert_local_frame = false |
Wether local frame should be inserted into tf.
Definition at line 304 of file settings.hpp.
| bool Settings::latency_compensation |
Wether processing latency shall be compensated for in ROS timestamp.
Definition at line 314 of file settings.hpp.
| int32_t Settings::leap_seconds = -128 |
The number of leap seconds that have been inserted into the UTC time.
Definition at line 331 of file settings.hpp.
| std::string Settings::local_frame_id |
Frame id of the local frame to be inserted.
Definition at line 306 of file settings.hpp.
| bool Settings::lock_utm_zone |
Wether the UTM zone of the localization is locked.
Definition at line 329 of file settings.hpp.
| std::string Settings::login_password |
Password for login.
Definition at line 150 of file settings.hpp.
| std::string Settings::login_user |
Username for login.
Definition at line 148 of file settings.hpp.
| bool Settings::multi_antenna |
INS multiantenna.
Definition at line 213 of file settings.hpp.
| Osnma Settings::osnma |
OSNMA settings.
Definition at line 225 of file settings.hpp.
| double Settings::pitch_offset |
Attitude offset determination in latitudinal direction.
Definition at line 211 of file settings.hpp.
| 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 321 of file settings.hpp.
| double Settings::poi_x |
INS POI offset in x-dimension.
Definition at line 197 of file settings.hpp.
| double Settings::poi_y |
INS POI offset in y-dimension.
Definition at line 199 of file settings.hpp.
| double Settings::poi_z |
INS POI offset in z-dimension.
Definition at line 201 of file settings.hpp.
| uint32_t Settings::polling_period_pvt |
Polling period for PVT-related SBF blocks.
Definition at line 163 of file settings.hpp.
| uint32_t Settings::polling_period_rest |
Polling period for all other SBF blocks and NMEA messages.
Definition at line 165 of file settings.hpp.
| float Settings::pos_std_dev |
Position deviation mask.
Definition at line 221 of file settings.hpp.
| bool Settings::publish_aimplusstatus |
Whether or not to publish the RFStatus and AIMPlusStatus message and diagnostics
Definition at line 238 of file settings.hpp.
| bool Settings::publish_attcoveuler |
Whether or not to publish the AttCovEulerMsg message.
Definition at line 266 of file settings.hpp.
| bool Settings::publish_atteuler |
Whether or not to publish the AttEulerMsg message.
Definition at line 264 of file settings.hpp.
| bool Settings::publish_basevectorcart |
Whether or not to publish the BaseVectorCartMsg message
Definition at line 248 of file settings.hpp.
| bool Settings::publish_basevectorgeod |
Whether or not to publish the BaseVectorGeodMsg message.
Definition at line 250 of file settings.hpp.
| bool Settings::publish_diagnostics |
Whether or not to publish the DiagnosticArrayMsg message.
Definition at line 290 of file settings.hpp.
| bool Settings::publish_exteventinsnavcart |
Whether or not to publish the ExtEventINSNavCartMsg message.
Definition at line 278 of file settings.hpp.
| bool Settings::publish_exteventinsnavgeod |
Whether or not to publish the ExtEventINSNavGeodMsg message.
Definition at line 276 of file settings.hpp.
| bool Settings::publish_extsensormeas |
Whether or not to publish the ExtSensorMeasMsg message.
Definition at line 280 of file settings.hpp.
| bool Settings::publish_galauthstatus |
Whether or not to publish the GALAuthStatus message and diagnostics.
Definition at line 240 of file settings.hpp.
| bool Settings::publish_gpgga |
Whether or not to publish the GGA message.
Definition at line 227 of file settings.hpp.
| bool Settings::publish_gpgsa |
Whether or not to publish the GSA message.
Definition at line 231 of file settings.hpp.
| bool Settings::publish_gpgsv |
Whether or not to publish the GSV message.
Definition at line 233 of file settings.hpp.
| bool Settings::publish_gprmc |
Whether or not to publish the RMC message.
Definition at line 229 of file settings.hpp.
| bool Settings::publish_gpsfix |
Whether or not to publish the GpsFixMsg message.
Definition at line 286 of file settings.hpp.
| bool Settings::publish_gpst |
Whether or not to publish the TimeReferenceMsg message with GPST.
Definition at line 282 of file settings.hpp.
| bool Settings::publish_imu |
Whether or not to publish the ImuMsg message.
Definition at line 292 of file settings.hpp.
| bool Settings::publish_imusetup |
Whether or not to publish the IMUSetupMsg message.
Definition at line 272 of file settings.hpp.
| bool Settings::publish_insnavcart |
Whether or not to publish the INSNavCartMsg message.
Definition at line 268 of file settings.hpp.
| bool Settings::publish_insnavgeod |
Whether or not to publish the INSNavGeodMsg message.
Definition at line 270 of file settings.hpp.
| bool Settings::publish_localization |
Whether or not to publish the LocalizationMsg message.
Definition at line 294 of file settings.hpp.
| bool Settings::publish_localization_ecef |
Whether or not to publish the LocalizationMsg message.
Definition at line 296 of file settings.hpp.
| bool Settings::publish_measepoch |
Whether or not to publish the MeasEpoch message.
Definition at line 235 of file settings.hpp.
| bool Settings::publish_navsatfix |
Whether or not to publish the NavSatFixMsg message.
Definition at line 284 of file settings.hpp.
| bool Settings::publish_poscovcartesian |
Whether or not to publish the PosCovCartesianMsg message
Definition at line 253 of file settings.hpp.
| bool Settings::publish_poscovgeodetic |
Whether or not to publish the PosCovGeodeticMsg message
Definition at line 256 of file settings.hpp.
| bool Settings::publish_pose |
Whether or not to publish the PoseWithCovarianceStampedMsg message.
Definition at line 288 of file settings.hpp.
| bool Settings::publish_pvtcartesian |
Whether or not to publish the PVTCartesianMsg message
Definition at line 243 of file settings.hpp.
| bool Settings::publish_pvtgeodetic |
Whether or not to publish the PVTGeodeticMsg message.
Definition at line 245 of file settings.hpp.
| bool Settings::publish_tf |
Whether or not to publish the tf of the localization.
Definition at line 300 of file settings.hpp.
| bool Settings::publish_tf_ecef |
Whether or not to publish the tf of the localization.
Definition at line 302 of file settings.hpp.
| bool Settings::publish_twist |
Whether or not to publish the TwistWithCovarianceStampedMsg message.
Definition at line 298 of file settings.hpp.
| bool Settings::publish_velcovcartesian |
Whether or not to publish the VelCovCartesianMsg message
Definition at line 259 of file settings.hpp.
| bool Settings::publish_velcovgeodetic |
Whether or not to publish the VelCovGeodeticMsg message
Definition at line 262 of file settings.hpp.
| bool Settings::publish_velsensorsetup |
Whether or not to publish the VelSensorSetupMsg message.
Definition at line 274 of file settings.hpp.
| bool Settings::read_from_pcap = false |
Whether or not we are reading from a PCAP file.
Definition at line 335 of file settings.hpp.
| bool Settings::read_from_sbf_log = false |
Whether or not we are reading from an SBF file.
Definition at line 333 of file settings.hpp.
| float Settings::reconnect_delay_s |
Delay in seconds between reconnection attempts to the connection type specified in the parameter connection_type
Definition at line 153 of file settings.hpp.
| Rtk Settings::rtk |
RTK corrections settings.
Definition at line 223 of file settings.hpp.
| std::string Settings::septentrio_receiver_type |
Septentrio receiver type, either "gnss" or "ins".
Definition at line 308 of file settings.hpp.
| std::string Settings::tcp_ip_server |
TCP IP server id.
Definition at line 144 of file settings.hpp.
| uint32_t Settings::tcp_port |
TCP port.
Definition at line 142 of file settings.hpp.
| double Settings::theta_x |
IMU orientation x-angle.
Definition at line 185 of file settings.hpp.
| double Settings::theta_y |
IMU orientation y-angle.
Definition at line 187 of file settings.hpp.
| double Settings::theta_z |
IMU orientation z-angle.
Definition at line 189 of file settings.hpp.
| std::string Settings::udp_ip_server |
UDP IP server id.
Definition at line 140 of file settings.hpp.
| uint32_t Settings::udp_port |
UDP port.
Definition at line 136 of file settings.hpp.
| std::string Settings::udp_unicast_ip |
UDP unicast destination ip.
Definition at line 138 of file settings.hpp.
| 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 312 of file settings.hpp.
| bool Settings::use_ros_axis_orientation |
ROS axis orientation, body: front-left-up, geographic: ENU.
Definition at line 183 of file settings.hpp.
| std::string Settings::vehicle_frame_id |
The frame ID of the vehicle frame.
Definition at line 327 of file settings.hpp.
| std::string Settings::vsm_frame_id |
The frame ID of the velocity sensor.
Definition at line 323 of file settings.hpp.
| double Settings::vsm_x |
INS velocity sensor lever arm x-offset.
Definition at line 203 of file settings.hpp.
| double Settings::vsm_y |
INS velocity sensor lever arm y-offset.
Definition at line 205 of file settings.hpp.
| double Settings::vsm_z |
INS velocity sensor lever arm z-offset.
Definition at line 207 of file settings.hpp.