.. _program_listing_file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_adr_udr_product.hpp:

Program Listing for File adr_udr_product.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ublox_ublox_gps_include_ublox_gps_adr_udr_product.hpp>` (``/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/adr_udr_product.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef UBLOX_GPS_ADR_UDR_PRODUCT_HPP
   #define UBLOX_GPS_ADR_UDR_PRODUCT_HPP
   
   #include <memory>
   #include <string>
   
   #include <diagnostic_updater/diagnostic_updater.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/imu.hpp>
   #include <sensor_msgs/msg/time_reference.hpp>
   
   #include <ublox_msgs/msg/esf_ins.hpp>
   #include <ublox_msgs/msg/esf_meas.hpp>
   #include <ublox_msgs/msg/esf_raw.hpp>
   #include <ublox_msgs/msg/esf_status.hpp>
   #include <ublox_msgs/msg/hnr_pvt.hpp>
   #include <ublox_msgs/msg/nav_att.hpp>
   #include <ublox_msgs/msg/tim_tm2.hpp>
   
   #include <ublox_gps/component_interface.hpp>
   #include <ublox_gps/gps.hpp>
   
   namespace ublox_node {
   
   class AdrUdrProduct final : public virtual ComponentInterface {
    public:
     explicit AdrUdrProduct(uint16_t nav_rate, uint16_t meas_rate, const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node* node);
   
     void getRosParams() override;
   
     bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override;
   
     void initializeRosDiagnostics() override {
       // RCLCPP_WARN("ROS Diagnostics specific to u-blox ADR/UDR devices is %s",
       //          "unimplemented. See AdrUdrProduct class in node.hpp & node.cpp.");
     }
   
     void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;
   
    private:
     bool use_adr_;
   
     sensor_msgs::msg::Imu imu_;
     sensor_msgs::msg::TimeReference t_ref_;
   
     void callbackEsfMEAS(const ublox_msgs::msg::EsfMEAS &m);
   
     rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
     rclcpp::Publisher<sensor_msgs::msg::TimeReference>::SharedPtr time_ref_pub_;
     rclcpp::Publisher<ublox_msgs::msg::NavATT>::SharedPtr nav_att_pub_;
     rclcpp::Publisher<ublox_msgs::msg::EsfINS>::SharedPtr esf_ins_pub_;
     rclcpp::Publisher<ublox_msgs::msg::EsfMEAS>::SharedPtr esf_meas_pub_;
     rclcpp::Publisher<ublox_msgs::msg::EsfRAW>::SharedPtr esf_raw_pub_;
     rclcpp::Publisher<ublox_msgs::msg::EsfSTATUS>::SharedPtr esf_status_pub_;
     rclcpp::Publisher<ublox_msgs::msg::HnrPVT>::SharedPtr hnr_pvt_pub_;
   
     uint16_t nav_rate_;
     uint16_t meas_rate_;
   
     std::string frame_id_;
     std::shared_ptr<diagnostic_updater::Updater> updater_;
     rclcpp::Node* node_;
   };
   
   }  // namespace ublox_node
   
   #endif  // UBLOX_GPS_ADR_UDR_PRODUCT_HPP