Class RawDataStreamPa

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class RawDataStreamPa : public rclcpp::Node

Implements functions for raw data stream.

Public Functions

explicit RawDataStreamPa(bool is_ros_subscriber = false)

Constructor. Initialises variables and the nodehandle.

void getRosParams()

Get the raw data stream parameters.

bool isEnabled()

Returns the if raw data streaming is enabled.

void initialize()

Initializes raw data streams If storing to file is enabled, the filename is created and the corresponding filedescriptor will be opened. If publishing ros messages is enabled, an empty msg will be published. (This will implicitly create the publisher)

void ubloxCallback(const unsigned char *data, std::size_t size)

Callback function which handles raw data.

Parameters:

  • data – the buffer of u-blox messages to process

  • size – the size of the buffer