node.cpp File Reference

#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/TimeReference.h>
#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/String.h>
#include <tf/LinearMath/Quaternion.h>
#include <tf/transform_datatypes.h>
#include "dispatch.h"
#include <gps_common/conversions.h>
#include <arpa/inet.h>

Include dependency graph for node.cpp:

Go to the source code of this file.

Defines
#define	GPS_EPOCH_OFFSET   315964800
#define	GPS_LEAP_SECONDS   18
#define	OXFORD_DISPLAY_INFO   0
#define	UINT16_MAX   (65535)
Functions
static double	getZoneMeridian (const std::string &utm_zone)
static void	handlePacket (const Packet *packet, ros::Publisher &pub_fix, ros::Publisher &pub_vel, ros::Publisher &pub_imu, ros::Publisher &pub_odom, ros::Publisher &pub_pos_type, ros::Publisher &pub_nav_status, ros::Publisher &pub_gps_time_ref, const std::string &frame_id_gps, const std::string &frame_id_vel, const std::string &frame_id_odom)
int	main (int argc, char **argv)
static void	mapLookup (const std::map< uint8_t, std::string > &map, uint8_t key, std::string &val)
static bool	openSocket (const std::string &interface, const std::string &ip_addr, uint16_t port, int *fd_ptr, sockaddr_in *sock_ptr)
static int	readSocket (int fd, unsigned int timeout, void *data, size_t size, sockaddr *source_ptr=NULL)
static double	SQUARE (double x)
static double	toUtcTime (uint32_t gps_minutes, uint16_t gps_ms)
Variables
static const std::map< uint8_t, std::string >	NAV_STATUS_MAP
static const std::map< uint8_t, std::string >	POS_MODE_MAP

---

Define Documentation

#define GPS_EPOCH_OFFSET   315964800

Definition at line 66 of file node.cpp.

#define GPS_LEAP_SECONDS   18

Definition at line 65 of file node.cpp.

#define OXFORD_DISPLAY_INFO   0

Definition at line 122 of file node.cpp.

#define UINT16_MAX   (65535)

Definition at line 61 of file node.cpp.

---

Function Documentation

static double getZoneMeridian

(

const std::string &

utm_zone

)

[inline, static]

Definition at line 178 of file node.cpp.

static void handlePacket	(	const Packet *	packet,
		ros::Publisher &	pub_fix,
		ros::Publisher &	pub_vel,
		ros::Publisher &	pub_imu,
		ros::Publisher &	pub_odom,
		ros::Publisher &	pub_pos_type,
		ros::Publisher &	pub_nav_status,
		ros::Publisher &	pub_gps_time_ref,
		const std::string &	frame_id_gps,
		const std::string &	frame_id_vel,
		const std::string &	frame_id_odom
	)		[inline, static]

Definition at line 189 of file node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 464 of file node.cpp.

static void mapLookup	(	const std::map< uint8_t, std::string > &	map,
		uint8_t	key,
		std::string &	val
	)		[inline, static]

Definition at line 169 of file node.cpp.

static bool openSocket	(	const std::string &	interface,
		const std::string &	ip_addr,
		uint16_t	port,
		int *	fd_ptr,
		sockaddr_in *	sock_ptr
	)		[inline, static]

Definition at line 69 of file node.cpp.

static int readSocket	(	int	fd,
		unsigned int	timeout,
		void *	data,
		size_t	size,
		sockaddr *	source_ptr = NULL
	)		[inline, static]

Definition at line 95 of file node.cpp.

static double SQUARE

(

double

x

)

[inline, static]

Definition at line 119 of file node.cpp.

static double toUtcTime	(	uint32_t	gps_minutes,
		uint16_t	gps_ms
	)		[inline, static]

Definition at line 184 of file node.cpp.

---

Variable Documentation

const std::map<uint8_t, std::string> NAV_STATUS_MAP [static]

Initial value:

 {
  {0, "INVALID"},
  {1, "IMU_ONLY"},
  {2, "INITIALIZING"},
  {3, "LOCKING"},
  {4, "READY"},
}

Definition at line 161 of file node.cpp.

const std::map<uint8_t, std::string> POS_MODE_MAP [static]

Definition at line 125 of file node.cpp.