ublox_node::HpgRovProduct Class Reference

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

#include <node.h>

Inheritance diagram for ublox_node::HpgRovProduct:

Public Member Functions
bool	configureUblox ()
	Configure rover settings. More...
void	getRosParams ()
	Get the ROS parameters specific to the Rover configuration. More...
void	initializeRosDiagnostics ()
	Add diagnostic updaters for rover GNSS status, including status of RTCM messages. More...
void	subscribe ()
	Subscribe to Rover messages, such as NavRELPOSNED. More...

Static Public Attributes
constexpr static double	kRtcmFreqMax = 10
	Diagnostic updater: RTCM topic frequency max [Hz]. More...
constexpr static double	kRtcmFreqMin = 1
	Diagnostic updater: RTCM topic frequency min [Hz]. More...
constexpr static double	kRtcmFreqTol = 0.1
	Diagnostic updater: RTCM topic frequency tolerance [%]. More...
constexpr static int	kRtcmFreqWindow = 25
	Diagnostic updater: RTCM topic frequency window [num messages]. More...

Protected Member Functions
void	callbackNavRelPosNed (const ublox_msgs::NavRELPOSNED &m)
	Set the last received message and call rover diagnostic updater. More...
void	carrierPhaseDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Update the rover diagnostics, including the carrier phase solution status (float or fixed). More...

Protected Attributes
uint8_t	dgnss_mode_
	The DGNSS mode. More...
UbloxTopicDiagnostic	freq_rtcm_
	The RTCM topic frequency diagnostic updater. More...
ublox_msgs::NavRELPOSNED	last_rel_pos_
	Last relative position (used for diagnostic updater) More...

Detailed Description

Implements functions for High Precision GNSS Rover devices.

Definition at line 1290 of file node.h.

Member Function Documentation

callbackNavRelPosNed()

void HpgRovProduct::callbackNavRelPosNed ( const ublox_msgs::NavRELPOSNED &  m )

protected

Set the last received message and call rover diagnostic updater.

Publish received NavRELPOSNED messages if enabled

Definition at line 1704 of file node.cpp.

carrierPhaseDiagnostics()

void HpgRovProduct::carrierPhaseDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

protected

Update the rover diagnostics, including the carrier phase solution status (float or fixed).

Definition at line 1670 of file node.cpp.

configureUblox()

bool HpgRovProduct::configureUblox ( )

virtual

Configure rover settings.

Configure the DGNSS mode.

Returns

true if configured correctly, false otherwise

Implements ublox_node::ComponentInterface.

Definition at line 1646 of file node.cpp.

getRosParams()

void HpgRovProduct::getRosParams ( )

virtual

Get the ROS parameters specific to the Rover configuration.

Get the DGNSS mode.

Implements ublox_node::ComponentInterface.

Definition at line 1640 of file node.cpp.

initializeRosDiagnostics()

void HpgRovProduct::initializeRosDiagnostics ( )

virtual

Add diagnostic updaters for rover GNSS status, including status of RTCM messages.

Implements ublox_node::ComponentInterface.

Definition at line 1661 of file node.cpp.

subscribe()

void HpgRovProduct::subscribe ( )

virtual

Subscribe to Rover messages, such as NavRELPOSNED.

Implements ublox_node::ComponentInterface.

Definition at line 1653 of file node.cpp.

Member Data Documentation

dgnss_mode_

uint8_t ublox_node::HpgRovProduct::dgnss_mode_

protected

The DGNSS mode.

see CfgDGNSS message for possible values

Definition at line 1348 of file node.h.

freq_rtcm_

UbloxTopicDiagnostic ublox_node::HpgRovProduct::freq_rtcm_

protected

The RTCM topic frequency diagnostic updater.

Definition at line 1351 of file node.h.

kRtcmFreqMax

constexpr static double ublox_node::HpgRovProduct::kRtcmFreqMax = 10

staticconstexpr

Diagnostic updater: RTCM topic frequency max [Hz].

Definition at line 1296 of file node.h.

kRtcmFreqMin

constexpr static double ublox_node::HpgRovProduct::kRtcmFreqMin = 1

staticconstexpr

Diagnostic updater: RTCM topic frequency min [Hz].

Definition at line 1294 of file node.h.

kRtcmFreqTol

constexpr static double ublox_node::HpgRovProduct::kRtcmFreqTol = 0.1

staticconstexpr

Diagnostic updater: RTCM topic frequency tolerance [%].

Definition at line 1298 of file node.h.

kRtcmFreqWindow

constexpr static int ublox_node::HpgRovProduct::kRtcmFreqWindow = 25

staticconstexpr

Diagnostic updater: RTCM topic frequency window [num messages].

Definition at line 1300 of file node.h.

last_rel_pos_

ublox_msgs::NavRELPOSNED ublox_node::HpgRovProduct::last_rel_pos_

protected

Last relative position (used for diagnostic updater)

Definition at line 1344 of file node.h.

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

• node.h
• node.cpp