Class MessagePublisher

Class Documentation

class MessagePublisher

Class to publish all SBG-ROS messages to the corresponding publishers.

Public Functions

MessagePublisher()

Default constructor.

void initPublishers(rclcpp::Node &ref_ros_node_handle, const ConfigStore &ref_config_store)

Initialize the publishers for the output configuration.

Parameters:

  • ref_ros_node_handle – [in] Ros Node to advertise the publisher.

  • ref_config_store – [in] Store configuration for the publishers.

void publish(SbgEComClass sbg_msg_class, SbgEComMsgId sbg_msg_id, const SbgEComLogUnion &ref_sbg_log)

Publish the received SbgLog if the corresponding publisher is defined.

Parameters:

  • sbg_msg_class – [in] Class ID of the SBG message.

  • sbg_msg_id – [in] Id of the SBG message.

  • ref_sbg_log – [in] SBG binary log.