Program Listing for File ublox_firmware6.hpp

↰ Return to documentation for file (/tmp/ws/src/ublox/ublox_gps/include/ublox_gps/ublox_firmware6.hpp)

#ifndef UBLOX_GPS_UBLOX_FIRMWARE6_HPP
#define UBLOX_GPS_UBLOX_FIRMWARE6_HPP

#include <memory>
#include <string>

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>

#include <ublox_msgs/msg/cfg_nmea6.hpp>
#include <ublox_msgs/msg/nav_posllh.hpp>
#include <ublox_msgs/msg/nav_sol.hpp>
#include <ublox_msgs/msg/nav_velned.hpp>

#include <ublox_gps/fix_diagnostic.hpp>
#include <ublox_gps/gps.hpp>
#include <ublox_gps/ublox_firmware.hpp>

namespace ublox_node {

class UbloxFirmware6 final : public UbloxFirmware {
 public:
  explicit UbloxFirmware6(const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<FixDiagnostic> freq_diag, std::shared_ptr<Gnss> gnss, rclcpp::Node* node);

  void getRosParams() override;

  bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override;

  void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override;

 protected:
  void fixDiagnostic(diagnostic_updater::DiagnosticStatusWrapper& stat) override;

 private:
  void callbackNavPosLlh(const ublox_msgs::msg::NavPOSLLH& m);

  void callbackNavVelNed(const ublox_msgs::msg::NavVELNED& m);

  void callbackNavSol(const ublox_msgs::msg::NavSOL& m);

  ublox_msgs::msg::NavPOSLLH last_nav_pos_;
  ublox_msgs::msg::NavVELNED last_nav_vel_;
  ublox_msgs::msg::NavSOL last_nav_sol_;
  sensor_msgs::msg::NavSatFix fix_;
  geometry_msgs::msg::TwistWithCovarianceStamped velocity_;

  ublox_msgs::msg::CfgNMEA6 cfg_nmea_;

  rclcpp::Publisher<ublox_msgs::msg::NavPOSLLH>::SharedPtr nav_pos_llh_pub_;
  rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr fix_pub_;
  rclcpp::Publisher<ublox_msgs::msg::NavVELNED>::SharedPtr nav_vel_ned_pub_;
  rclcpp::Publisher<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr vel_pub_;
  rclcpp::Publisher<ublox_msgs::msg::NavSOL>::SharedPtr nav_sol_pub_;
  rclcpp::Publisher<ublox_msgs::msg::NavSVINFO>::SharedPtr nav_svinfo_pub_;
  rclcpp::Publisher<ublox_msgs::msg::MonHW6>::SharedPtr mon_hw_pub_;

  std::string frame_id_;
  std::shared_ptr<FixDiagnostic> freq_diag_;
};

}  // namespace ublox_node

#endif  // UBLOX_GPS_UBLOX_FIRMWARE6_HPP