Struct Settings
Defined in File settings.hpp
Struct Documentation
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struct Settings
Settings struct.
Public Members
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bool activate_debug_log
Set logger level to DEBUG.
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std::string device
Device.
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device_type::DeviceType device_type
Device type.
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std::string device_tcp_ip
TCP IP.
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std::string device_tcp_port
TCP port.
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uint32_t udp_port
UDP port.
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std::string udp_unicast_ip
UDP unicast destination ip.
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std::string udp_ip_server
UDP IP server id.
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uint32_t tcp_port
TCP port.
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std::string tcp_ip_server
TCP IP server id.
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std::string file_name
Filename.
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std::string login_user
Username for login.
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std::string login_password
Password for login.
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float reconnect_delay_s
Delay in seconds between reconnection attempts to the connection type specified in the parameter connection_type
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uint32_t baudrate
Baudrate.
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std::string hw_flow_control
HW flow control.
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bool configure_rx
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std::string datum
Datum to be used.
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uint32_t polling_period_pvt
Polling period for PVT-related SBF blocks.
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uint32_t polling_period_rest
Polling period for all other SBF blocks and NMEA messages.
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float delta_e
Marker-to-ARP offset in the eastward direction.
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float delta_n
Marker-to-ARP offset in the northward direction.
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float delta_u
Marker-to-ARP offset in the upward direction.
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std::string ant_type
Main antenna type, from the list returned by the command “lstAntennaInfo,
Overview”
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std::string ant_aux1_type
Aux1 antenna type, from the list returned by the command “lstAntennaInfo,
Overview”
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std::string ant_serial_nr
Serial number of your particular Main antenna.
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std::string ant_aux1_serial_nr
Serial number of your particular Aux1 antenna.
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bool use_ros_axis_orientation
ROS axis orientation, body: front-left-up, geographic: ENU.
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double theta_x
IMU orientation x-angle.
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double theta_y
IMU orientation y-angle.
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double theta_z
IMU orientation z-angle.
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double ant_lever_x
INS antenna lever arm x-offset.
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double ant_lever_y
INS antenna lever arm y-offset.
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double ant_lever_z
INS antenna lever arm z-offset.
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double poi_x
INS POI offset in x-dimension.
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double poi_y
INS POI offset in y-dimension.
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double poi_z
INS POI offset in z-dimension.
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double vsm_x
INS velocity sensor lever arm x-offset.
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double vsm_y
INS velocity sensor lever arm y-offset.
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double vsm_z
INS velocity sensor lever arm z-offset.
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double heading_offset
Attitude offset determination in longitudinal direction.
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double pitch_offset
Attitude offset determination in latitudinal direction.
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bool multi_antenna
INS multiantenna.
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bool ins_use_poi
INS solution reference point.
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std::string ins_initial_heading
For heading computation when unit is powered-cycled.
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float att_std_dev
Attitude deviation mask.
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float pos_std_dev
Position deviation mask.
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bool publish_gpgga
Whether or not to publish the GGA message.
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bool publish_gprmc
Whether or not to publish the RMC message.
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bool publish_gpgsa
Whether or not to publish the GSA message.
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bool publish_gpgsv
Whether or not to publish the GSV message.
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bool publish_measepoch
Whether or not to publish the MeasEpoch message.
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bool publish_aimplusstatus
Whether or not to publish the RFStatus and AIMPlusStatus message and diagnostics
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bool publish_galauthstatus
Whether or not to publish the GALAuthStatus message and diagnostics.
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bool publish_pvtcartesian
Whether or not to publish the PVTCartesianMsg message
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bool publish_pvtgeodetic
Whether or not to publish the PVTGeodeticMsg message.
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bool publish_basevectorcart
Whether or not to publish the BaseVectorCartMsg message
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bool publish_basevectorgeod
Whether or not to publish the BaseVectorGeodMsg message.
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bool publish_poscovcartesian
Whether or not to publish the PosCovCartesianMsg message
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bool publish_poscovgeodetic
Whether or not to publish the PosCovGeodeticMsg message
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bool publish_velcovcartesian
Whether or not to publish the VelCovCartesianMsg message
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bool publish_velcovgeodetic
Whether or not to publish the VelCovGeodeticMsg message
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bool publish_atteuler
Whether or not to publish the AttEulerMsg message.
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bool publish_attcoveuler
Whether or not to publish the AttCovEulerMsg message.
Whether or not to publish the INSNavCartMsg message.
Whether or not to publish the INSNavGeodMsg message.
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bool publish_imusetup
Whether or not to publish the IMUSetupMsg message.
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bool publish_velsensorsetup
Whether or not to publish the VelSensorSetupMsg message.
Whether or not to publish the ExtEventINSNavGeodMsg message.
Whether or not to publish the ExtEventINSNavCartMsg message.
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bool publish_extsensormeas
Whether or not to publish the ExtSensorMeasMsg message.
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bool publish_gpst
Whether or not to publish the TimeReferenceMsg message with GPST.
Whether or not to publish the NavSatFixMsg message.
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bool publish_gpsfix
Whether or not to publish the GpsFixMsg message.
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bool publish_pose
Whether or not to publish the PoseWithCovarianceStampedMsg message.
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bool publish_diagnostics
Whether or not to publish the DiagnosticArrayMsg message.
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bool publish_imu
Whether or not to publish the ImuMsg message.
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bool publish_localization
Whether or not to publish the LocalizationMsg message.
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bool publish_localization_ecef
Whether or not to publish the LocalizationMsg message.
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bool publish_twist
Whether or not to publish the TwistWithCovarianceStampedMsg message.
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bool publish_tf
Whether or not to publish the tf of the localization.
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bool publish_tf_ecef
Whether or not to publish the tf of the localization.
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bool insert_local_frame = false
Wether local frame should be inserted into tf.
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std::string local_frame_id
Frame id of the local frame to be inserted.
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std::string septentrio_receiver_type
Septentrio receiver type, either “gnss” or “ins”.
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bool 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.
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bool latency_compensation
Wether processing latency shall be compensated for in ROS timestamp.
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std::string frame_id
The frame ID used in the header of every published ROS message.
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std::string imu_frame_id
The frame ID used in the header of published ROS Imu message.
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std::string poi_frame_id
The frame ID used in the header of published ROS Localization message if poi is used
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std::string vsm_frame_id
The frame ID of the velocity sensor.
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std::string aux1_frame_id
The frame ID of the aux1 antenna.
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std::string vehicle_frame_id
The frame ID of the vehicle frame.
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bool lock_utm_zone
Wether the UTM zone of the localization is locked.
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int32_t leap_seconds = -128
The number of leap seconds that have been inserted into the UTC time.
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bool read_from_sbf_log = false
Whether or not we are reading from an SBF file.
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bool read_from_pcap = false
Whether or not we are reading from a PCAP file.
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std::string ins_vsm_ros_source
VSM source for INS.
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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)
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bool ins_vsm_ros_variances_by_parameter = false
Whether or not to use variance defined by ROS parameter.
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std::vector<double> ins_vsm_ros_variances = {-1.0, -1.0, -1.0}
Variances of the 3D velocity (var_x, var_y, var_z)
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std::string ins_vsm_ip_server_id
VSM IP server id.
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uint32_t ins_vsm_ip_server_port
VSM tcp port.
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bool ins_vsm_ip_server_keep_open
Wether VSM shall be kept open om shutdown.
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std::string ins_vsm_serial_port
VSM serial port.
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uint32_t ins_vsm_serial_baud_rate
VSM serial baud rate.
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bool ins_vsm_serial_keep_open
Wether VSM shall be kept open om shutdown.
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bool activate_debug_log