novatel_gps_nodelet.cpp

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// *****************************************************************************
//
// Copyright (c) 2017, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//       names of its contributors may be used to endorse or promote products
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#include <exception>
#include <string>

#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/mean.hpp>
#include <boost/accumulators/statistics/min.hpp>
#include <boost/accumulators/statistics/rolling_mean.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/tail.hpp>
#include <boost/accumulators/statistics/variance.hpp>
#include <boost/circular_buffer.hpp>

#include <diagnostic_msgs/DiagnosticStatus.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <gps_common/GPSFix.h>
#include <nodelet/nodelet.h>
#include <novatel_gps_msgs/NovatelCorrectedImuData.h>
#include <novatel_gps_msgs/NovatelFRESET.h>
#include <novatel_gps_msgs/NovatelMessageHeader.h>
#include <novatel_gps_msgs/NovatelPosition.h>
#include <novatel_gps_msgs/NovatelUtmPosition.h>
#include <novatel_gps_msgs/NovatelVelocity.h>
#include <novatel_gps_msgs/NovatelHeading2.h>
#include <novatel_gps_msgs/NovatelDualAntennaHeading.h>
#include <novatel_gps_msgs/Gpgga.h>
#include <novatel_gps_msgs/Gprmc.h>
#include <novatel_gps_msgs/Range.h>
#include <novatel_gps_msgs/Time.h>
#include <novatel_gps_driver/novatel_gps.h>
#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/NavSatFix.h>
#include <std_msgs/Time.h>
#include <swri_math_util/math_util.h>
#include <swri_roscpp/parameters.h>
#include <swri_roscpp/publisher.h>
#include <swri_roscpp/subscriber.h>

namespace stats = boost::accumulators;

namespace novatel_gps_driver
{
  class NovatelGpsNodelet : public nodelet::Nodelet
  {
  public:
    NovatelGpsNodelet() :
      device_(""),
      connection_type_("serial"),
      polling_period_(0.05),
      publish_gpgsa_(false),
      publish_gpgsv_(false),
      imu_rate_(100.0),
      imu_sample_rate_(-1),
      publish_imu_messages_(false),
      publish_novatel_positions_(false),
      publish_novatel_xyz_positions_(false),
      publish_novatel_utm_positions_(false),
      publish_novatel_velocity_(false),
      publish_novatel_heading2_(false),
      publish_novatel_dual_antenna_heading_(false),
      publish_nmea_messages_(false),
      publish_range_messages_(false),
      publish_time_messages_(false),
      publish_trackstat_(false),
      publish_diagnostics_(true),
      publish_sync_diagnostic_(true),
      reconnect_delay_s_(0.5),
      use_binary_messages_(false),
      span_frame_to_ros_frame_(false),
      connection_(NovatelGps::SERIAL),
      last_sync_(ros::TIME_MIN),
      rolling_offset_(stats::tag::rolling_window::window_size = 10),
      expected_rate_(20),
      device_timeouts_(0),
      device_interrupts_(0),
      device_errors_(0),
      gps_parse_failures_(0),
      gps_insufficient_data_warnings_(0),
      publish_rate_warnings_(0),
      measurement_count_(0),
      last_published_(ros::TIME_MIN),
      imu_frame_id_(""),
      frame_id_("")
    {
    }

    ~NovatelGpsNodelet()
    {
      gps_.Disconnect();
    }

    void onInit()
    {
      ros::NodeHandle &node = getNodeHandle();
      ros::NodeHandle &priv = getPrivateNodeHandle();

      swri::param(priv, "device", device_, device_);
      swri::param(priv, "imu_rate", imu_rate_, imu_rate_);
      swri::param(priv, "imu_sample_rate", imu_sample_rate_, imu_sample_rate_);
      swri::param(priv, "publish_clocksteering", publish_clock_steering_, false);
      swri::param(priv, "publish_gpgsa", publish_gpgsa_, publish_gpgsa_);
      swri::param(priv, "publish_gpgsv", publish_gpgsv_, publish_gpgsv_);
      swri::param(priv, "publish_imu_messages", publish_imu_messages_, publish_imu_messages_);
      swri::param(priv, "publish_novatel_positions", publish_novatel_positions_, publish_novatel_positions_);
      swri::param(priv, "publish_novatel_xyz_positions", publish_novatel_xyz_positions_, publish_novatel_xyz_positions_);
      swri::param(priv, "publish_novatel_utm_positions", publish_novatel_utm_positions_, publish_novatel_utm_positions_);
      swri::param(priv, "publish_novatel_velocity", publish_novatel_velocity_, publish_novatel_velocity_);
      swri::param(priv, "publish_novatel_heading2", publish_novatel_heading2_, publish_novatel_heading2_);
      swri::param(priv, "publish_novatel_dual_antenna_heading", publish_novatel_dual_antenna_heading_, publish_novatel_dual_antenna_heading_);
      swri::param(priv, "publish_nmea_messages", publish_nmea_messages_, publish_nmea_messages_);
      swri::param(priv, "publish_range_messages", publish_range_messages_, publish_range_messages_);
      swri::param(priv, "publish_time_messages", publish_time_messages_, publish_time_messages_);
      swri::param(priv, "publish_trackstat", publish_trackstat_, publish_trackstat_);
      swri::param(priv, "publish_diagnostics", publish_diagnostics_, publish_diagnostics_);
      swri::param(priv, "publish_sync_diagnostic", publish_sync_diagnostic_, publish_sync_diagnostic_);
      swri::param(priv, "polling_period", polling_period_, polling_period_);
      swri::param(priv, "reconnect_delay_s", reconnect_delay_s_, reconnect_delay_s_);
      swri::param(priv, "use_binary_messages", use_binary_messages_, use_binary_messages_);
      swri::param(priv, "span_frame_to_ros_frame", span_frame_to_ros_frame_, span_frame_to_ros_frame_);

      swri::param(priv, "connection_type", connection_type_, connection_type_);
      connection_ = NovatelGps::ParseConnection(connection_type_);
      swri::param(priv, "serial_baud", serial_baud_, 115200);

      swri::param(priv, "imu_frame_id", imu_frame_id_, std::string(""));
      swri::param(priv, "frame_id", frame_id_, std::string(""));
      
      //set NovatelGps parameters
      swri::param(priv, "gpgga_gprmc_sync_tol", gps_.gpgga_gprmc_sync_tol_, 0.01);
      swri::param(priv, "gpgga_position_sync_tol", gps_.gpgga_position_sync_tol_, 0.01);
      swri::param(priv, "wait_for_position", gps_.wait_for_position_, false);

      // Reset Service
      reset_service_ = priv.advertiseService("freset", &NovatelGpsNodelet::resetService, this);

      sync_sub_ = swri::Subscriber(node, "gps_sync", 100, &NovatelGpsNodelet::SyncCallback, this);

      std::string gps_topic = node.resolveName("gps");
      gps_pub_ = swri::advertise<gps_common::GPSFix>(node, gps_topic, 100);
      fix_pub_ = swri::advertise<sensor_msgs::NavSatFix>(node, "fix", 100);

      if (publish_clock_steering_)
      {
        clocksteering_pub_ = swri::advertise<novatel_gps_msgs::ClockSteering>(node, "clocksteering", 100);
      }

      if (publish_nmea_messages_)
      {
        gpgga_pub_ = swri::advertise<novatel_gps_msgs::Gpgga>(node,"gpgga", 100);
        gprmc_pub_ = swri::advertise<novatel_gps_msgs::Gprmc>(node,"gprmc", 100);
      }

      if (publish_gpgsa_)
      {
        gpgsa_pub_ = swri::advertise<novatel_gps_msgs::Gpgsa>(node, "gpgsa", 100);
      }

      if (publish_imu_messages_)
      {
        imu_pub_ = swri::advertise<sensor_msgs::Imu>(node, "imu", 100);
        novatel_imu_pub_= swri::advertise<novatel_gps_msgs::NovatelCorrectedImuData>(node, "corrimudata", 100);
        insstdev_pub_ = swri::advertise<novatel_gps_msgs::Insstdev>(node, "insstdev", 100);
        inspva_pub_ = swri::advertise<novatel_gps_msgs::Inspva>(node, "inspva", 100);
        inscov_pub_ = swri::advertise<novatel_gps_msgs::Inscov>(node, "inscov", 100);
      }

      if (publish_gpgsv_)
      {
        gpgsv_pub_ = swri::advertise<novatel_gps_msgs::Gpgsv>(node, "gpgsv", 100);
      }

      if (publish_novatel_positions_)
      { 
        novatel_position_pub_ = swri::advertise<novatel_gps_msgs::NovatelPosition>(node, "bestpos", 100);
      }

      if (publish_novatel_xyz_positions_)
      { 
        novatel_xyz_position_pub_ = swri::advertise<novatel_gps_msgs::NovatelXYZ>(node, "bestxyz", 100);
      }

      if (publish_novatel_utm_positions_)
      { 
        novatel_utm_pub_ = swri::advertise<novatel_gps_msgs::NovatelUtmPosition>(node, "bestutm", 100);
      }

      if (publish_novatel_velocity_)
      {
        novatel_velocity_pub_ = swri::advertise<novatel_gps_msgs::NovatelVelocity>(node, "bestvel", 100);
      }

      if (publish_novatel_heading2_)
      {
        novatel_heading2_pub_ = swri::advertise<novatel_gps_msgs::NovatelHeading2>(node, "heading2", 100);
      }

      if (publish_novatel_dual_antenna_heading_)
      {
        novatel_dual_antenna_heading_pub_ = swri::advertise<novatel_gps_msgs::NovatelDualAntennaHeading>(node, "dual_antenna_heading", 100);
      }

      if (publish_range_messages_)
      {
        range_pub_ = swri::advertise<novatel_gps_msgs::Range>(node, "range", 100);
      }

      if (publish_time_messages_)
      {
        time_pub_ = swri::advertise<novatel_gps_msgs::Time>(node, "time", 100);
      }

      if (publish_trackstat_)
      {
        trackstat_pub_ = swri::advertise<novatel_gps_msgs::Trackstat>(node, "trackstat", 100);
      }

      hw_id_ = "Novatel GPS (" + device_ +")";
      if (publish_diagnostics_)
      {
        diagnostic_updater_.setHardwareID(hw_id_);
        diagnostic_updater_.add("Connection",
            this,
            &NovatelGpsNodelet::DeviceDiagnostic);
        diagnostic_updater_.add("Hardware",
            this,
            &NovatelGpsNodelet::GpsDiagnostic);
        diagnostic_updater_.add("Data",
            this,
            &NovatelGpsNodelet::DataDiagnostic);
        diagnostic_updater_.add("Rate",
            this,
            &NovatelGpsNodelet::RateDiagnostic);
        diagnostic_updater_.add("GPS Fix",
            this,
            &NovatelGpsNodelet::FixDiagnostic);
        if (publish_sync_diagnostic_)
        {
          diagnostic_updater_.add("Sync",
              this,
              &NovatelGpsNodelet::SyncDiagnostic);
        }
      }

      gps_.ApplyVehicleBodyRotation(span_frame_to_ros_frame_);

      thread_ = boost::thread(&NovatelGpsNodelet::Spin, this);
      NODELET_INFO("%s initialized", hw_id_.c_str());
    }

    void SyncCallback(const std_msgs::TimeConstPtr& sync)
    {
      boost::unique_lock<boost::mutex> lock(mutex_);
      sync_times_.push_back(sync->data);
    }

    void Spin()
    {
      std::string format_suffix;
      if (use_binary_messages_)
      {
        // NovAtel logs in binary format always end with "b", while ones in
        // ASCII format always end in "a".
        format_suffix = "b";
      }
      else
      {
        format_suffix = "a";
      }

      NovatelMessageOpts opts;
      opts["gpgga"] = polling_period_;
      opts["gprmc"] = polling_period_;
      opts["bestpos" + format_suffix] = polling_period_;  // Best position
      opts["time" + format_suffix] = 1.0;  // Time
      if (publish_novatel_xyz_positions_)
      {
        opts["bestxyz" + format_suffix] = polling_period_;
      }
      if (publish_novatel_utm_positions_)
      {
        opts["bestutm" + format_suffix] = polling_period_;
      }
      if (publish_novatel_heading2_)
      {
        opts["heading2" + format_suffix] = polling_period_;
      }
      if (publish_novatel_dual_antenna_heading_)
      {
        opts["dual_antenna_heading" + format_suffix] = polling_period_;
      }
      if (publish_gpgsa_)
      {
        opts["gpgsa"] = polling_period_;
      }
      if (publish_gpgsv_)
      {
        opts["gpgsv"] = 1.0;
      }
      if (publish_clock_steering_)
      {
        opts["clocksteering" + format_suffix] = 1.0;
      }
      if (publish_imu_messages_)
      {
        double period = 1.0 / imu_rate_;
        opts["corrimudata" + format_suffix] = period;
        opts["inscov" + format_suffix] = 1.0;
        opts["inspva" + format_suffix] = period;
        opts["insstdev" + format_suffix] = 1.0;
        if (!use_binary_messages_)
        {
          NODELET_WARN("Using the ASCII message format with CORRIMUDATA logs is not recommended.  "
                       "A serial link will not be able to keep up with the data rate.");
        }

        // Only configure the imu rate if we set the param
        if (imu_sample_rate_ > 0)
        {
          gps_.SetImuRate(imu_sample_rate_, true);
        }
      }
      if (publish_novatel_velocity_)
      {
        opts["bestvel" + format_suffix] = polling_period_;  // Best velocity
      }
      if (publish_range_messages_)
      {
        opts["range" + format_suffix] = 1.0;  // Range. 1 msg/sec is max rate
      }
      if (publish_trackstat_)
      {
        opts["trackstat" + format_suffix] = 1.0;  // Trackstat
      }
      // Set the serial baud rate if needed
      if (connection_ == NovatelGps::SERIAL)
      {
        gps_.SetSerialBaud(serial_baud_);
      }
      while (ros::ok())
      {
        if (gps_.Connect(device_, connection_, opts))
        {
          // Connected to device. Begin reading/processing data
          NODELET_INFO("%s connected to device", hw_id_.c_str());
          while (gps_.IsConnected() && ros::ok())
          {
            // Read data from the device and publish any received messages
            CheckDeviceForData();

            // Poke the diagnostic updater. It will only fire diagnostics if
            // its internal timer (1 Hz) has elapsed. Otherwise, this is a
            // noop
            if (publish_diagnostics_)
            {
              diagnostic_updater_.update();
            }

            // Spin once to let the ROS callbacks fire
            ros::spinOnce();
            // Sleep for a microsecond to prevent CPU hogging
            boost::this_thread::sleep(boost::posix_time::microseconds(1));
          }  // While (gps_.IsConnected() && ros::ok()) (inner loop to process data from device)
        }
        else  // Could not connect to the device
        {
          NODELET_ERROR_THROTTLE(1, "Error connecting to device <%s:%s>: %s",
            connection_type_.c_str(),
            device_.c_str(),
            gps_.ErrorMsg().c_str());
          device_errors_++;
          error_msg_ = gps_.ErrorMsg();
        }

        if (ros::ok())
        {
          // If ROS is still OK but we got disconnected, we're going to try
          // to reconnect, but wait just a bit so we don't spam the device.
          ros::Duration(reconnect_delay_s_).sleep();
        }

        // Poke the diagnostic updater. It will only fire diagnostics if
        // its internal timer (1 Hz) has elapsed. Otherwise, this is a
        // noop
        if (publish_diagnostics_)
        {
          diagnostic_updater_.update();
        }

        // Spin once to let the ROS callbacks fire
        ros::spinOnce();
        // Sleep for a microsecond to prevent CPU hogging
        boost::this_thread::sleep(boost::posix_time::microseconds(1));

        if (connection_ == NovatelGps::PCAP)
        {
          // If we're playing a PCAP file, we only want to play it once.
          ros::shutdown();
        }
      }  // While (ros::ok) (outer loop to reconnect to device)

      gps_.Disconnect();
      NODELET_INFO("%s disconnected and shut down", hw_id_.c_str());
    }

  private:
    // Parameters
    std::string device_;
    std::string connection_type_;
    int32_t serial_baud_;
    double polling_period_;
    bool publish_gpgsa_;
    bool publish_gpgsv_;
    double imu_rate_;
    double imu_sample_rate_;
    bool span_frame_to_ros_frame_;
    bool publish_clock_steering_;
    bool publish_imu_messages_;
    bool publish_novatel_positions_;
    bool publish_novatel_xyz_positions_;
    bool publish_novatel_utm_positions_;
    bool publish_novatel_velocity_;
    bool publish_novatel_heading2_;
    bool publish_novatel_dual_antenna_heading_;
    bool publish_nmea_messages_;
    bool publish_range_messages_;
    bool publish_time_messages_;
    bool publish_trackstat_;
    bool publish_diagnostics_;
    bool publish_sync_diagnostic_;
    double reconnect_delay_s_;
    bool use_binary_messages_;

    ros::Publisher clocksteering_pub_;
    ros::Publisher fix_pub_;
    ros::Publisher gps_pub_;
    ros::Publisher imu_pub_;
    ros::Publisher inscov_pub_;
    ros::Publisher inspva_pub_;
    ros::Publisher insstdev_pub_;
    ros::Publisher novatel_imu_pub_;
    ros::Publisher novatel_position_pub_;
    ros::Publisher novatel_xyz_position_pub_;
    ros::Publisher novatel_utm_pub_;
    ros::Publisher novatel_velocity_pub_;
    ros::Publisher novatel_heading2_pub_;
    ros::Publisher novatel_dual_antenna_heading_pub_;
    ros::Publisher gpgga_pub_;
    ros::Publisher gpgsv_pub_;
    ros::Publisher gpgsa_pub_;
    ros::Publisher gprmc_pub_;
    ros::Publisher range_pub_;
    ros::Publisher time_pub_;
    ros::Publisher trackstat_pub_;

    ros::ServiceServer reset_service_;

    NovatelGps::ConnectionType connection_;
    NovatelGps gps_;

    boost::thread thread_;
    boost::mutex mutex_;

    swri::Subscriber sync_sub_;
    ros::Time last_sync_;
    boost::circular_buffer<ros::Time> sync_times_;
    boost::circular_buffer<ros::Time> msg_times_;
    stats::accumulator_set<float, stats::stats<
      stats::tag::max,
      stats::tag::min,
      stats::tag::mean,
      stats::tag::variance> > offset_stats_;
    stats::accumulator_set<float, stats::stats<stats::tag::rolling_mean> > rolling_offset_;

    // ROS diagnostics
    std::string error_msg_;
    diagnostic_updater::Updater diagnostic_updater_;
    std::string hw_id_;
    double expected_rate_;
    int32_t device_timeouts_;
    int32_t device_interrupts_;
    int32_t device_errors_;
    int32_t gps_parse_failures_;
    int32_t gps_insufficient_data_warnings_;
    int32_t publish_rate_warnings_;
    int32_t measurement_count_;
    ros::Time last_published_;
    novatel_gps_msgs::NovatelPositionPtr last_novatel_position_;

    std::string imu_frame_id_;
    std::string frame_id_;

    bool resetService(novatel_gps_msgs::NovatelFRESET::Request& req,
                      novatel_gps_msgs::NovatelFRESET::Response& res)
    {
      if (gps_.IsConnected() == false)
      {
        res.success = false;
      }
      
      // Formulate the reset command and send it to the device
      std::string command = "FRESET ";
      command += req.target.length() ? "STANDARD" : req.target;
      command += "\r\n";
      gps_.Write(command);

      if (req.target.length() == 0)
      {
        ROS_WARN("No FRESET target specified. Doing FRESET STANDARD. This may be undesired behavior.");
      }

      res.success = true;
      return true;
    }

    void CheckDeviceForData()
    {
      std::vector<novatel_gps_msgs::NovatelPositionPtr> position_msgs;
      std::vector<novatel_gps_msgs::NovatelXYZPtr> xyz_position_msgs;
      std::vector<novatel_gps_msgs::NovatelUtmPositionPtr> utm_msgs;
      std::vector<novatel_gps_msgs::NovatelHeading2Ptr> heading2_msgs;
      std::vector<novatel_gps_msgs::NovatelDualAntennaHeadingPtr> dual_antenna_heading_msgs;
      std::vector<gps_common::GPSFixPtr> fix_msgs;
      std::vector<novatel_gps_msgs::GpggaPtr> gpgga_msgs;
      std::vector<novatel_gps_msgs::GprmcPtr> gprmc_msgs;

      // This call appears to block if the serial device is disconnected
      NovatelGps::ReadResult result = gps_.ProcessData();
      if (result == NovatelGps::READ_ERROR)
      {
        NODELET_ERROR_THROTTLE(1, "Error reading from device <%s:%s>: %s",
                               connection_type_.c_str(),
                               device_.c_str(),
                               gps_.ErrorMsg().c_str());
        device_errors_++;
      }
      else if (result == NovatelGps::READ_TIMEOUT)
      {
        device_timeouts_++;
      }
      else if (result == NovatelGps::READ_INTERRUPTED)
      {
        // If we are interrupted by a signal, ROS is probably
        // quitting, but we'll wait for ROS to tell us to quit.
        device_interrupts_++;
      }
      else if (result == NovatelGps::READ_PARSE_FAILED)
      {
        NODELET_ERROR("Error reading from device <%s:%s>: %s",
                               connection_type_.c_str(),
                               device_.c_str(),
                               gps_.ErrorMsg().c_str());
        gps_parse_failures_++;
      }
      else if (result == NovatelGps::READ_INSUFFICIENT_DATA)
      {
        gps_insufficient_data_warnings_++;
      }

      // Read messages from the driver into the local message lists
      gps_.GetGpggaMessages(gpgga_msgs);
      gps_.GetGprmcMessages(gprmc_msgs);
      gps_.GetNovatelPositions(position_msgs);
      gps_.GetNovatelXYZPositions(xyz_position_msgs);
      gps_.GetNovatelUtmPositions(utm_msgs);
      gps_.GetFixMessages(fix_msgs);
      gps_.GetNovatelHeading2Messages(heading2_msgs);
      gps_.GetNovatelDualAntennaHeadingMessages(dual_antenna_heading_msgs);

      // Increment the measurement count by the number of messages we just
      // read
      measurement_count_ += gpgga_msgs.size();

      // If there are new position messages, store the most recent
      if (!position_msgs.empty())
      {
        last_novatel_position_ = position_msgs.back();
      }

      // Find all the gppga messages that are within 20 ms of whole
      // numbered UTC seconds and push their stamps onto the msg_times
      // buffer
      for (const auto& msg : gpgga_msgs)
      {
        if (msg->utc_seconds != 0)
        {
          int64_t second = static_cast<int64_t>(swri_math_util::Round(msg->utc_seconds));
          double difference = std::fabs(msg->utc_seconds - second);

          if (difference < 0.02)
          {
            msg_times_.push_back(msg->header.stamp);
          }
        }
      }

      // If timesync messages are available, CalculateTimeSync will
      // update a stat accumulator of the offset of the TimeSync message
      // stamp from the GPS message stamp
      CalculateTimeSync();

      // If TimeSync messages are available, CalculateTimeSync keeps
      // an acculumator of their offset, which is used to
      // calculate a rolling mean of the offset to apply to all messages
      ros::Duration sync_offset(0); // If no TimeSyncs, assume 0 offset
      if (last_sync_ != ros::TIME_MIN)
      {
        sync_offset = ros::Duration(stats::rolling_mean(rolling_offset_));
      }
      NODELET_DEBUG_STREAM("GPS TimeSync offset is " << sync_offset);

      if (publish_nmea_messages_)
      {
        for (const auto& msg : gpgga_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          gpgga_pub_.publish(msg);
        }

        for (const auto& msg : gprmc_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          gprmc_pub_.publish(msg);
        }
      }

      if (publish_gpgsa_)
      {
        std::vector<novatel_gps_msgs::GpgsaPtr> gpgsa_msgs;
        gps_.GetGpgsaMessages(gpgsa_msgs);
        for (const auto& msg : gpgsa_msgs)
        {
          msg->header.stamp = ros::Time::now();
          msg->header.frame_id = frame_id_;
          gpgsa_pub_.publish(msg);
        }
      }

      if (publish_gpgsv_)
      {
        std::vector<novatel_gps_msgs::GpgsvPtr> gpgsv_msgs;
        gps_.GetGpgsvMessages(gpgsv_msgs);
        for (const auto& msg : gpgsv_msgs)
        {
          msg->header.stamp = ros::Time::now();
          msg->header.frame_id = frame_id_;
          gpgsv_pub_.publish(msg);
        }
      }

      if (publish_novatel_positions_)
      {
        for (const auto& msg : position_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          novatel_position_pub_.publish(msg);
        }
      }

      if (publish_novatel_xyz_positions_)
      {
        for (const auto& msg : xyz_position_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          novatel_xyz_position_pub_.publish(msg);
        }
      }

      if (publish_novatel_utm_positions_)
      {
        for (const auto& msg : utm_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          novatel_utm_pub_.publish(msg);
        }
      }

      if (publish_novatel_heading2_)
      {
        for (const auto& msg : heading2_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          novatel_heading2_pub_.publish(msg);
        }
      }

      if (publish_novatel_dual_antenna_heading_)
      {
        for (const auto& msg : dual_antenna_heading_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          novatel_dual_antenna_heading_pub_.publish(msg);
        }
      }

      if (publish_clock_steering_)
      {
        std::vector<novatel_gps_msgs::ClockSteeringPtr> msgs;
        gps_.GetClockSteeringMessages(msgs);
        for (const auto& msg : msgs)
        {
          clocksteering_pub_.publish(msg);
        }
      }

      if (publish_novatel_velocity_)
      {
        std::vector<novatel_gps_msgs::NovatelVelocityPtr> velocity_msgs;
        gps_.GetNovatelVelocities(velocity_msgs);
        for (const auto& msg : velocity_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          novatel_velocity_pub_.publish(msg);
        }
      }
      if (publish_time_messages_)
      {
        std::vector<novatel_gps_msgs::TimePtr> time_msgs;
        gps_.GetTimeMessages(time_msgs);
        for (const auto& msg : time_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          time_pub_.publish(msg);
        }
      }
      if (publish_range_messages_)
      {
        std::vector<novatel_gps_msgs::RangePtr> range_msgs;
        gps_.GetRangeMessages(range_msgs);
        for (const auto& msg : range_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          range_pub_.publish(msg);
        }
      }
      if (publish_trackstat_)
      {
        std::vector<novatel_gps_msgs::TrackstatPtr> trackstat_msgs;
        gps_.GetTrackstatMessages(trackstat_msgs);
        for (const auto& msg : trackstat_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = frame_id_;
          trackstat_pub_.publish(msg);
        }
      }
      if (publish_imu_messages_)
      {
        std::vector<novatel_gps_msgs::NovatelCorrectedImuDataPtr> novatel_imu_msgs;
        gps_.GetNovatelCorrectedImuData(novatel_imu_msgs);
        for (const auto& msg : novatel_imu_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = imu_frame_id_;
          novatel_imu_pub_.publish(msg);
        }

        std::vector<sensor_msgs::ImuPtr> imu_msgs;
        gps_.GetImuMessages(imu_msgs);
        for (const auto& msg : imu_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = imu_frame_id_;
          imu_pub_.publish(msg);
        }

        std::vector<novatel_gps_msgs::InscovPtr> inscov_msgs;
        gps_.GetInscovMessages(inscov_msgs);
        for (const auto& msg : inscov_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = imu_frame_id_;
          inscov_pub_.publish(msg);
        }

        std::vector<novatel_gps_msgs::InspvaPtr> inspva_msgs;
        gps_.GetInspvaMessages(inspva_msgs);
        for (const auto& msg : inspva_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = imu_frame_id_;
          inspva_pub_.publish(msg);
        }

        std::vector<novatel_gps_msgs::InsstdevPtr> insstdev_msgs;
        gps_.GetInsstdevMessages(insstdev_msgs);
        for (const auto& msg : insstdev_msgs)
        {
          msg->header.stamp += sync_offset;
          msg->header.frame_id = imu_frame_id_;
          insstdev_pub_.publish(msg);
        }
      }

      for (const auto& msg : fix_msgs)
      {
        msg->header.stamp += sync_offset;
        msg->header.frame_id = frame_id_;
        gps_pub_.publish(msg);

        if (fix_pub_.getNumSubscribers() > 0)
        {
          sensor_msgs::NavSatFixPtr fix_msg = ConvertGpsFixToNavSatFix(msg);

          fix_pub_.publish(fix_msg);
        }

        // If the time between GPS message stamps is greater than 1.5
        // times the expected publish rate, increment the
        // publish_rate_warnings_ counter, which is used in diagnostics
        if (last_published_ != ros::TIME_MIN &&
            (msg->header.stamp - last_published_).toSec() > 1.5 * (1.0 / expected_rate_))
        {
          publish_rate_warnings_++;
        }

        last_published_ = msg->header.stamp;
      }
    }

    sensor_msgs::NavSatFixPtr ConvertGpsFixToNavSatFix(const gps_common::GPSFixPtr& msg)
    {
      sensor_msgs::NavSatFixPtr fix_msg = boost::make_shared<sensor_msgs::NavSatFix>();
      fix_msg->header = msg->header;
      fix_msg->latitude = msg->latitude;
      fix_msg->longitude = msg->longitude;
      fix_msg->altitude = msg->altitude;
      fix_msg->position_covariance = msg->position_covariance;
      switch (msg->status.status)
      {
        case gps_common::GPSStatus::STATUS_NO_FIX:
          fix_msg->status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX;
          break;
        case gps_common::GPSStatus::STATUS_FIX:
          fix_msg->status.status = sensor_msgs::NavSatStatus::STATUS_FIX;
          break;
        case gps_common::GPSStatus::STATUS_SBAS_FIX:
          fix_msg->status.status = sensor_msgs::NavSatStatus::STATUS_SBAS_FIX;
          break;
        case gps_common::GPSStatus::STATUS_GBAS_FIX:
          fix_msg->status.status = sensor_msgs::NavSatStatus::STATUS_GBAS_FIX;
          break;
        case gps_common::GPSStatus::STATUS_DGPS_FIX:
        case gps_common::GPSStatus::STATUS_WAAS_FIX:
        default:
          ROS_WARN_ONCE("Unsupported fix status: %d", msg->status.status);
          fix_msg->status.status = sensor_msgs::NavSatStatus::STATUS_FIX;
          break;
      }
      switch (msg->position_covariance_type)
      {
        case gps_common::GPSFix::COVARIANCE_TYPE_KNOWN:
          fix_msg->position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_KNOWN;
          break;
        case gps_common::GPSFix::COVARIANCE_TYPE_APPROXIMATED:
          fix_msg->position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_APPROXIMATED;
          break;
        case gps_common::GPSFix::COVARIANCE_TYPE_DIAGONAL_KNOWN:
          fix_msg->position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;
          break;
        case gps_common::GPSFix::COVARIANCE_TYPE_UNKNOWN:
          fix_msg->position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_UNKNOWN;
          break;
        default:
          ROS_WARN_ONCE("Unsupported covariance type: %d", msg->position_covariance_type);
          fix_msg->position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_UNKNOWN;
          break;
      }
      // TODO Figure out how to set this based on info in a GPSFix
      fix_msg->status.service = 0;

      return fix_msg;
    }

    void CalculateTimeSync()
    {
      boost::unique_lock<boost::mutex> lock(mutex_);
      int32_t synced_i = -1;  
      int32_t synced_j = -1;  
      // Loop over sync times buffer
      for (int32_t i = 0; i < sync_times_.size(); i++)
      {
        // Loop over message times buffer
        for (int32_t j = synced_j + 1; j < msg_times_.size(); j++)
        {
          // Offset is the difference between the sync time and message time
          double offset = (sync_times_[i] - msg_times_[j]).toSec();
          if (std::fabs(offset) < 0.49)
          {
            // If the offset is less than 0.49 sec, the messages match
            synced_i = static_cast<int32_t>(i);
            synced_j = static_cast<int32_t>(j);
            // Add the offset to the stats accumulators
            offset_stats_(offset);
            rolling_offset_(offset);
            // Update the last sync
            last_sync_ = sync_times_[i];
            // Break out of the inner loop and continue looping through sync times
            break;
          }
        }
      }

      // Remove all the timesync messages that have been matched from the queue
      for (int i = 0; i <= synced_i && !sync_times_.empty(); i++)
      {
        sync_times_.pop_front();
      }

      // Remove all the gps messages that have been matched from the queue
      for (int j = 0; j <= synced_j && !msg_times_.empty(); j++)
      {
        msg_times_.pop_front();
      }
    }

    void FixDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &status)
    {
      status.clear();
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Nominal");

      if (!last_novatel_position_)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "No Status");
        NODELET_WARN("No GPS status data.");
        return;
      }

      status.add("Solution Status", last_novatel_position_->solution_status);
      status.add("Position Type", last_novatel_position_->position_type);
      status.add("Solution Age", last_novatel_position_->solution_age);
      status.add("Satellites Tracked", static_cast<int>(last_novatel_position_->num_satellites_tracked));
      status.add("Satellites Used", static_cast<int>(last_novatel_position_->num_satellites_used_in_solution));
      status.add("Software Version", last_novatel_position_->novatel_msg_header.receiver_software_version);

      const novatel_gps_msgs::NovatelReceiverStatus& rcvr_status = last_novatel_position_->novatel_msg_header.receiver_status;
      status.add("Status Code", rcvr_status.original_status_code);

      if (last_novatel_position_->novatel_msg_header.receiver_status.original_status_code != 0)
      {
        uint8_t level = diagnostic_msgs::DiagnosticStatus::WARN;
        std::string msg = "Status Warning";
        // If the antenna is disconnected/broken, this is an error
        if (rcvr_status.antenna_is_open ||
            rcvr_status.antenna_is_shorted ||
            !rcvr_status.antenna_powered)
        {
          msg += " Antenna Problem";
          level = diagnostic_msgs::DiagnosticStatus::ERROR;
        }
        status.add("Error Flag", rcvr_status.error_flag?"true":"false");
        status.add("Temperature Flag", rcvr_status.temperature_flag?"true":"false");
        status.add("Voltage Flag", rcvr_status.voltage_supply_flag?"true":"false");
        status.add("Antenna Not Powered", rcvr_status.antenna_powered?"false":"true");
        status.add("Antenna Open", rcvr_status.antenna_is_open?"true":"false");
        status.add("Antenna Shorted", rcvr_status.antenna_is_shorted?"true":"false");
        status.add("CPU Overloaded", rcvr_status.cpu_overload_flag?"true":"false");
        status.add("COM1 Buffer Overrun", rcvr_status.com1_buffer_overrun?"true":"false");
        status.add("COM2 Buffer Overrun", rcvr_status.com2_buffer_overrun?"true":"false");
        status.add("COM3 Buffer Overrun", rcvr_status.com3_buffer_overrun?"true":"false");
        status.add("USB Buffer Overrun", rcvr_status.usb_buffer_overrun?"true":"false");
        status.add("RF1 AGC Flag", rcvr_status.rf1_agc_flag?"true":"false");
        status.add("RF2 AGC Flag", rcvr_status.rf2_agc_flag?"true":"false");
        status.add("Almanac Flag", rcvr_status.almanac_flag?"true":"false");
        status.add("Position Solution Flag", rcvr_status.position_solution_flag?"true":"false");
        status.add("Position Fixed Flag", rcvr_status.position_fixed_flag?"true":"false");
        status.add("Clock Steering Status", rcvr_status.clock_steering_status_enabled?"true":"false");
        status.add("Clock Model Flag", rcvr_status.clock_model_flag?"true":"false");
        status.add("OEMV External Oscillator Flag", rcvr_status.oemv_external_oscillator_flag?"true":"false");
        status.add("Software Resource Flag", rcvr_status.software_resource_flag?"true":"false");
        status.add("Auxiliary1 Flag", rcvr_status.aux1_status_event_flag?"true":"false");
        status.add("Auxiliary2 Flag", rcvr_status.aux2_status_event_flag?"true":"false");
        status.add("Auxiliary3 Flag", rcvr_status.aux3_status_event_flag?"true":"false");
        NODELET_WARN("Novatel status code: %d", rcvr_status.original_status_code);
        status.summary(level, msg);
      }
    }

    void SyncDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &status)
    {
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Nominal");

      if (last_sync_ == ros::TIME_MIN)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "No Sync");
        return;
      }
      else if (last_sync_ < ros::Time::now() - ros::Duration(10))
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Sync Stale");
        NODELET_ERROR("GPS time synchronization is stale.");
      }

      status.add("Last Sync", last_sync_);
      status.add("Mean Offset", stats::mean(offset_stats_));
      status.add("Mean Offset (rolling)", stats::rolling_mean(rolling_offset_));
      status.add("Offset Variance", stats::variance(offset_stats_));
      status.add("Min Offset", stats::min(offset_stats_));
      status.add("Max Offset", stats::max(offset_stats_));
    }

    void DeviceDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &status)
    {
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Nominal");

      if (device_errors_ > 0)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Device Errors");
      }
      else if (device_interrupts_ > 0)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Device Interrupts");
        NODELET_WARN("device interrupts detected <%s:%s>: %d",
            connection_type_.c_str(), device_.c_str(), device_interrupts_);
      }
      else if (device_timeouts_)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Device Timeouts");
        NODELET_WARN("device timeouts detected <%s:%s>: %d",
            connection_type_.c_str(), device_.c_str(), device_timeouts_);
      }

      status.add("Errors", device_errors_);
      status.add("Interrupts", device_interrupts_);
      status.add("Timeouts", device_timeouts_);

      device_timeouts_ = 0;
      device_interrupts_ = 0;
      device_errors_ = 0;
    }

    void GpsDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &status)
    {
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Nominal");

      if (gps_parse_failures_ > 0)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Parse Failures");
        NODELET_WARN("gps parse failures detected <%s>: %d",
            hw_id_.c_str(), gps_parse_failures_);
      }

      status.add("Parse Failures", gps_parse_failures_);
      status.add("Insufficient Data Warnings", gps_insufficient_data_warnings_);

      gps_parse_failures_ = 0;
      gps_insufficient_data_warnings_ = 0;
    }

    void DataDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &status)
    {
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Nominal");

      double period = diagnostic_updater_.getPeriod();
      double measured_rate = measurement_count_ / period;

      if (measured_rate < 0.5 * expected_rate_)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Insufficient Data Rate");
        NODELET_ERROR("insufficient data rate <%s>: %lf < %lf",
            hw_id_.c_str(), measured_rate, expected_rate_);
      }
      else if (measured_rate < 0.95 * expected_rate_)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Insufficient Data Rate");
        NODELET_WARN("insufficient data rate <%s>: %lf < %lf",
            hw_id_.c_str(), measured_rate, expected_rate_);
      }

      status.add("Measurement Rate (Hz)", measured_rate);

      measurement_count_ = 0;
    }

    void RateDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &status)
    {
      status.summary(diagnostic_msgs::DiagnosticStatus::OK, "Nominal Publish Rate");

      double elapsed = (ros::Time::now() - last_published_).toSec();
      bool gap_detected = false;
      if (elapsed > 2.0 / expected_rate_)
      {
        publish_rate_warnings_++;
        gap_detected = true;
      }

      if (publish_rate_warnings_ > 1 || gap_detected)
      {
        status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Insufficient Publish Rate");
        NODELET_WARN("publish rate failures detected <%s>: %d",
            hw_id_.c_str(), publish_rate_warnings_);
      }

      status.add("Warnings", publish_rate_warnings_);

      publish_rate_warnings_ = 0;
    }
  };
}

// Register nodelet plugin
#include <swri_nodelet/class_list_macros.h>
SWRI_NODELET_EXPORT_CLASS(novatel_gps_driver, NovatelGpsNodelet)