00001 //============================================================================== 00002 // Copyright (c) 2019, Peter Weissig, TU Chemnitz 00003 // All rights reserved. 00004 // 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND 00019 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00020 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00021 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00022 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00023 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00024 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00025 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00026 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00027 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00028 //============================================================================== 00029 00030 // This file is an addon from TUC-ProAut (https://github.com/TUC-ProAut/). 00031 // It was created to log all data from the ublox to a logfile and to publish 00032 // the data as ros messages. This is used by our group to also evaluate the 00033 // measured data with the rtklib. 00034 00035 // ROS includes 00036 #include <ros/ros.h> 00037 // Ublox GPS includes 00038 #include <ublox_gps/raw_data_pa.h> 00039 00040 using namespace ublox_node; 00041 00042 // 00043 // Raw Data Stream (feature from TUC-ProAut) 00044 // 00045 00046 int main(int argc, char** argv) { 00047 00048 ros::init(argc, argv, "ublox_logger"); 00049 00050 RawDataStreamPa node(true); 00051 node.getRosParams(); 00052 node.initialize(); 00053 00054 ros::spin(); 00055 00056 return 0; 00057 }