logger_node_pa.cpp

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//==============================================================================
// Copyright (c) 2019, Peter Weissig, TU Chemnitz
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//==============================================================================
 
// This file is an addon from TUC-ProAut (https://github.com/TUC-ProAut/).
// It was created to log all data from the ublox to a logfile and to publish
// the data as ros messages. This is used by our group to also evaluate the
// measured data with the rtklib.
 
// ROS includes
#include <ros/ros.h>
// Ublox GPS includes
#include <ublox_gps/raw_data_pa.h>
 
using namespace ublox_node;
 
//
// Raw Data Stream (feature from TUC-ProAut)
//
 
int main(int argc, char** argv) {
 
    ros::init(argc, argv, "ublox_logger");
    
    RawDataStreamPa node(true);
    node.getRosParams();
    node.initialize();
 
    ros::spin();
 
    return 0;
}