Class ConfigStore

• Defined in File config_store.h

Nested Relationships

Nested Types

• Struct ConfigStore::SbgLogOutput

Class Documentation

class ConfigStore

Class to handle the device configuration.

Public Functions

ConfigStore()

Default constructor.

bool checkConfigWithRos() const

Check if the configuration should be done with ROS.

Returns:

True if the ROS driver has to configure the device.

bool isInterfaceSerial() const

Check if the interface configuration is a serial interface.

Returns:

True if the interface is serial, False otherwise.

const std::string &getUartPortName() const

Get the UART port name.

Returns:

UART serial port name.

uint32_t getBaudRate() const

Get the UART baudrate communication.

Returns:

UART serial baudrate.

SbgEComOutputPort getOutputPort() const

Get the output port of the device.

Returns:

SBG device output port.

bool isInterfaceUdp() const

Check if the interface configuration is a UDP interface.

Returns:

True if the interface is UDP, False otherwise.

sbgIpAddress getIpAddress() const

Get the Ip address of the interface.

Returns:

Ip address.

uint32_t getOutputPortAddress() const

Get the output port.

Returns:

Output port.

uint32_t getInputPortAddress() const

Get the input port.

Returns:

Input port.

const SbgEComInitConditionConf &getInitialConditions() const

Get the initial conditions configuration.

Returns:

Initial conditions configuration.

const SbgEComMotionProfileStdIds &getMotionProfile() const

Get the motion profile configuration.

Returns:

Motion profile configuration.

const SbgEComSensorAlignmentInfo &getSensorAlignement() const

Get the sensor alignement configuration.

Returns:

Sensor alignement configuration.

const SbgVector3<float> &getSensorLeverArm() const

Get the sensor lever arm.

Returns:

Sensor lever arm vector (in meters).

const SbgEComAidingAssignConf &getAidingAssignement() const

Get the aiding assignement configuration.

Returns:

Aiding assignement configuration.

const SbgEComMagModelsStdId &getMagnetometerModel() const

Get the magnetometer model configuration.

Returns:

Magnetometer model configuration.

const SbgEComMagRejectionConf &getMagnetometerRejection() const

Get the magnetometer rejection configuration.

Returns:

Magnetometer rejection configuration.

const SbgEComMagCalibMode &getMagnetometerCalibMode() const

Get the magnetometer calibration mode.

Returns:

Magnetometer calibration mode.

const SbgEComMagCalibBandwidth &getMagnetometerCalibBandwidth() const

Get the magnetometer calibration bandwidth.

Returns:

Magnetometer calibration bandwidth.

const SbgEComGnssModelsStdIds &getGnssModel() const

Get the Gnss model configuration.

Returns:

Gnss model configuration.

const SbgEComGnssInstallation &getGnssInstallation() const

Get the Gnss installation configuration.

Returns:

Gnss installation configuration.

const SbgEComGnssRejectionConf &getGnssRejection() const

Get the Gnss rejection configuration.

Returns:

Gnss rejection configuration.

const SbgEComOdoConf &getOdometerConf() const

Get the odometer configuration.

Returns:

Odometer configuration.

const SbgVector3<float> &getOdometerLeverArm() const

Get the odometer lever arm.

Returns:

Odometer lever arm vector (in meters).

const SbgEComOdoRejectionConf &getOdometerRejection() const

Get the odometer rejection.

Returns:

Odometer rejection configuration.

const std::vector<SbgLogOutput> &getOutputModes() const

Get all the output modes.

Returns:

Output mode for this config store.

bool checkRosStandardMessages() const

Check if the ROS standard outputs are defined.

Returns:

True if standard ROS messages output are defined.

uint32_t getReadingRateFrequency() const

Get the reading frequency defined in settings. If this frequency is null, the driver will automatically configure the max output frequency according to the outputs.

Returns:

Rate frequency parameter (in Hz).

const std::string &getFrameId() const

Get the frame ID.

Returns:

Frame ID.

bool getUseEnu() const

Get use ENU.

Returns:

True if the frame convention to use is ENU.

bool getOdomEnable() const

Get odom enable.

Returns:

True if the odometry is enabled.

bool getOdomPublishTf() const

Get odom publish_tf.

Returns:

If true publish odometry transforms.

const std::string &getOdomFrameId() const

Get the odometry frame ID.

Returns:

Odometry frame ID.

const std::string &getOdomBaseFrameId() const

Get the odometry base frame ID.

Returns:

Odometry base frame ID.

const std::string &getOdomInitFrameId() const

Get the odometry init frame ID.

Returns:

Odometry init frame ID.

TimeReference getTimeReference() const

Get the time reference.

Returns:

Time reference.

bool shouldSubscribeToRtcm() const

Returns if the node should subscribe to RTCM publisher

Returns:

True to subscribe to RTCM messages.

const std::string &getRtcmFullTopic() const

Get RTCM full topic.

Returns:

String with RTCM namespace + topic.

bool shouldPublishNmea() const

Returns if a specific NMEA GGA message should be published or not.

This GGA message is dedicated for NTRIP VRS operations and not for navigation.

Returns:

True if NMEA is enabled.

const std::string &getNmeaFullTopic() const

Get NMEA full topic.

Returns:

String with NMEA namespace + topic.

void loadFromRosNodeHandle(const rclcpp::Node &ref_node_handle)

Load the configuration from a ros parameter handle.

Parameters:

ref_node_handle – [in] ROS nodeHandle.

struct SbgLogOutput

Structure to define the SBG log output.

Public Members

SbgEComClass message_class

SbgEComMsgId message_id

SbgEComOutputMode output_mode