Implements functions for High Precision GNSS Reference station devices. More...
#include <node.h>
Public Member Functions | |
void | callbackNavSvIn (ublox_msgs::NavSVIN m) |
Update the last received NavSVIN message and call diagnostic updater. | |
bool | configureUblox () |
Configure the u-blox Reference Station settings. | |
void | getRosParams () |
Get the ROS parameters specific to the Reference Station configuration. | |
void | initializeRosDiagnostics () |
Add diagnostic updaters for the TMODE3 status. | |
void | subscribe () |
Subscribe to u-blox Reference Station messages. | |
Protected Types | |
enum | { INIT, FIXED, DISABLED, SURVEY_IN, TIME } |
Status of device time mode. More... | |
Protected Member Functions | |
bool | setTimeMode () |
Set the device mode to time mode (internal state variable). | |
void | tmode3Diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat) |
Update the TMODE3 diagnostics. | |
Protected Attributes | |
std::vector< float > | arp_position_ |
Antenna Reference Point Position [m] or [deg]. | |
std::vector< int8_t > | arp_position_hp_ |
Antenna Reference Point Position High Precision [0.1 mm] or [deg * 1e-9]. | |
float | fixed_pos_acc_ |
Fixed Position Accuracy [m]. | |
ublox_msgs::NavSVIN | last_nav_svin_ |
The last received Nav SVIN message. | |
bool | lla_flag_ |
True if coordinates are in LLA, false if ECEF. | |
enum ublox_node::HpgRefProduct:: { ... } | mode_ |
Status of device time mode. | |
float | sv_in_acc_lim_ |
Survey in accuracy limit [m]. | |
uint32_t | sv_in_min_dur_ |
Measurement period used during Survey-In [s]. | |
bool | svin_reset_ |
Whether to always reset the survey-in during configuration. | |
uint8_t | tmode3_ |
TMODE3 to set, such as disabled, survey-in, fixed. |
Implements functions for High Precision GNSS Reference station devices.
anonymous enum [protected] |
void HpgRefProduct::callbackNavSvIn | ( | ublox_msgs::NavSVIN | m | ) |
Update the last received NavSVIN message and call diagnostic updater.
When the survey in finishes, it changes the measurement & navigation rate to the user configured values and enables the user configured RTCM messages. Publish received Nav SVIN messages if enabled.
m | the message to process |
bool HpgRefProduct::configureUblox | ( | ) | [virtual] |
Configure the u-blox Reference Station settings.
Configure the TMODE3 settings and sets the internal state based on the TMODE3 status. If the TMODE3 is set to fixed, it will configure the RTCM messages.
Implements ublox_node::ComponentInterface.
void HpgRefProduct::getRosParams | ( | ) | [virtual] |
Get the ROS parameters specific to the Reference Station configuration.
Get the TMODE3 settings, the parameters it gets depends on the tmode3 parameter. For example, it will get survey-in parameters if the tmode3 parameter is set to survey in or it will get the fixed parameters if it is set to fixed.
Implements ublox_node::ComponentInterface.
void HpgRefProduct::initializeRosDiagnostics | ( | ) | [virtual] |
Add diagnostic updaters for the TMODE3 status.
Implements ublox_node::ComponentInterface.
bool HpgRefProduct::setTimeMode | ( | ) | [protected] |
void HpgRefProduct::subscribe | ( | ) | [virtual] |
Subscribe to u-blox Reference Station messages.
Subscribe to NavSVIN messages based on user parameters.
Implements ublox_node::ComponentInterface.
void HpgRefProduct::tmode3Diagnostics | ( | diagnostic_updater::DiagnosticStatusWrapper & | stat | ) | [protected] |
std::vector<float> ublox_node::HpgRefProduct::arp_position_ [protected] |
std::vector<int8_t> ublox_node::HpgRefProduct::arp_position_hp_ [protected] |
float ublox_node::HpgRefProduct::fixed_pos_acc_ [protected] |
ublox_msgs::NavSVIN ublox_node::HpgRefProduct::last_nav_svin_ [protected] |
bool ublox_node::HpgRefProduct::lla_flag_ [protected] |
enum { ... } ublox_node::HpgRefProduct::mode_ [protected] |
Status of device time mode.
float ublox_node::HpgRefProduct::sv_in_acc_lim_ [protected] |
uint32_t ublox_node::HpgRefProduct::sv_in_min_dur_ [protected] |
bool ublox_node::HpgRefProduct::svin_reset_ [protected] |
uint8_t ublox_node::HpgRefProduct::tmode3_ [protected] |