Inheritance diagram for novatel_gps_driver::NovatelGpsNodelet:

Public Member Functions
	NovatelGpsNodelet ()
void	onInit ()
void	Spin ()
void	SyncCallback (const std_msgs::TimeConstPtr &sync)
	~NovatelGpsNodelet ()
Private Member Functions
void	CalculateTimeSync ()
void	CheckDeviceForData ()
	Reads data from the device and publishes any parsed messages.
sensor_msgs::NavSatFixPtr	ConvertGpsFixToNavSatFix (const gps_common::GPSFixPtr &msg)
void	DataDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	DeviceDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	FixDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	GpsDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
void	RateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
bool	resetService (novatel_gps_msgs::NovatelFRESET::Request &req, novatel_gps_msgs::NovatelFRESET::Response &res)
	Service request to reset the gps through FRESET.
void	SyncDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &status)
Private Attributes
NovatelGps::ConnectionType	connection_
std::string	connection_type_
	The connection type, ("serial", "tcp", or "udp")
std::string	device_
	The device identifier e.g. /dev/ttyUSB0.
int32_t	device_errors_
int32_t	device_interrupts_
int32_t	device_timeouts_
diagnostic_updater::Updater	diagnostic_updater_
std::string	error_msg_
double	expected_rate_
ros::Publisher	fix_pub_
std::string	frame_id_
ros::Publisher	gpgga_pub_
ros::Publisher	gpgsa_pub_
ros::Publisher	gpgsv_pub_
ros::Publisher	gprmc_pub_
NovatelGps	gps_
int32_t	gps_insufficient_data_warnings_
int32_t	gps_parse_failures_
ros::Publisher	gps_pub_
std::string	hw_id_
std::string	imu_frame_id_
ros::Publisher	imu_pub_
double	imu_rate_
	The rate at which IMU measurements will be published, in Hz.
double	imu_sample_rate_
	How frequently the device samples the IMU, in Hz.
ros::Publisher	inscov_pub_
ros::Publisher	inspva_pub_
ros::Publisher	insstdev_pub_
novatel_gps_msgs::NovatelPositionPtr	last_novatel_position_
ros::Time	last_published_
ros::Time	last_sync_
int32_t	measurement_count_
boost::circular_buffer< ros::Time >	msg_times_
	Buffer of gps message time stamps.
boost::mutex	mutex_
ros::Publisher	novatel_imu_pub_
ros::Publisher	novatel_position_pub_
ros::Publisher	novatel_velocity_pub_
stats::accumulator_set< float, stats::stats< stats::tag::max, stats::tag::min, stats::tag::mean, stats::tag::variance > >	offset_stats_
	Stats on time offset.
double	polling_period_
bool	publish_diagnostics_
bool	publish_gpgsa_
bool	publish_gpgsv_
bool	publish_imu_messages_
bool	publish_nmea_messages_
bool	publish_novatel_positions_
bool	publish_novatel_velocity_
bool	publish_range_messages_
int32_t	publish_rate_warnings_
bool	publish_sync_diagnostic_
bool	publish_time_messages_
bool	publish_trackstat_
ros::Publisher	range_pub_
double	reconnect_delay_s_
ros::ServiceServer	reset_service_
stats::accumulator_set< float, stats::stats < stats::tag::rolling_mean > >	rolling_offset_
	Rolling mean of time offset.
swri::Subscriber	sync_sub_
	Subscriber to listen for sync times from a DIO.
boost::circular_buffer< ros::Time >	sync_times_
	Buffer of sync message time stamps.
boost::thread	thread_
ros::Publisher	time_pub_
ros::Publisher	trackstat_pub_
bool	use_binary_messages_

Detailed Description

Definition at line 161 of file novatel_gps_nodelet.cpp.

Constructor & Destructor Documentation

novatel_gps_driver::NovatelGpsNodelet::NovatelGpsNodelet ( ) [inline]

Definition at line 164 of file novatel_gps_nodelet.cpp.

novatel_gps_driver::NovatelGpsNodelet::~NovatelGpsNodelet ( ) [inline]

Definition at line 200 of file novatel_gps_nodelet.cpp.

Member Function Documentation

void novatel_gps_driver::NovatelGpsNodelet::CalculateTimeSync ( ) [inline, private]

Updates the time sync offsets by matching up timesync messages to gps messages and calculating the time offset between them.

Index of last synced timesync msg

Index of last synced gps msg

Definition at line 893 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::CheckDeviceForData ( ) [inline, private]

Reads data from the device and publishes any parsed messages.

Note that when reading from the device, this will block until data is available.

Definition at line 578 of file novatel_gps_nodelet.cpp.

sensor_msgs::NavSatFixPtr novatel_gps_driver::NovatelGpsNodelet::ConvertGpsFixToNavSatFix ( const gps_common::GPSFixPtr & msg ) [inline, private]

Definition at line 835 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::DataDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1068 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::DeviceDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1020 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::FixDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 935 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::GpsDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1050 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::onInit ( ) [inline, virtual]

Init method reads parameters and sets up publishers and subscribers. It does not connect to the device.

Implements nodelet::Nodelet.

Definition at line 209 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::RateDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 1093 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::resetService	(	novatel_gps_msgs::NovatelFRESET::Request &	req,
		novatel_gps_msgs::NovatelFRESET::Response &	res
	)		`[inline, private]`

Service request to reset the gps through FRESET.

Definition at line 549 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::Spin ( ) [inline]

Main spin loop connects to device, then reads data from it and publishes messages.

Definition at line 342 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::SyncCallback ( const std_msgs::TimeConstPtr & sync ) [inline]

Definition at line 332 of file novatel_gps_nodelet.cpp.

void novatel_gps_driver::NovatelGpsNodelet::SyncDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & status ) [inline, private]

Definition at line 997 of file novatel_gps_nodelet.cpp.

Member Data Documentation

NovatelGps::ConnectionType novatel_gps_driver::NovatelGpsNodelet::connection_ [private]

Definition at line 506 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::connection_type_ [private]

The connection type, ("serial", "tcp", or "udp")

Definition at line 467 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::device_ [private]

The device identifier e.g. /dev/ttyUSB0.

Definition at line 465 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_errors_ [private]

Definition at line 535 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_interrupts_ [private]

Definition at line 534 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::device_timeouts_ [private]

Definition at line 533 of file novatel_gps_nodelet.cpp.

diagnostic_updater::Updater novatel_gps_driver::NovatelGpsNodelet::diagnostic_updater_ [private]

Definition at line 530 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::error_msg_ [private]

Definition at line 529 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::expected_rate_ [private]

Definition at line 532 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::fix_pub_ [private]

Definition at line 487 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::frame_id_ [private]

Definition at line 544 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgga_pub_ [private]

Definition at line 496 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgsa_pub_ [private]

Definition at line 498 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gpgsv_pub_ [private]

Definition at line 497 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gprmc_pub_ [private]

Definition at line 499 of file novatel_gps_nodelet.cpp.

NovatelGps novatel_gps_driver::NovatelGpsNodelet::gps_ [private]

Definition at line 507 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::gps_insufficient_data_warnings_ [private]

Definition at line 537 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::gps_parse_failures_ [private]

Definition at line 536 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::gps_pub_ [private]

Definition at line 488 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::hw_id_ [private]

Definition at line 531 of file novatel_gps_nodelet.cpp.

std::string novatel_gps_driver::NovatelGpsNodelet::imu_frame_id_ [private]

Definition at line 543 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::imu_pub_ [private]

Definition at line 489 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::imu_rate_ [private]

The rate at which IMU measurements will be published, in Hz.

Definition at line 472 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::imu_sample_rate_ [private]

How frequently the device samples the IMU, in Hz.

Definition at line 474 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::inscov_pub_ [private]

Definition at line 490 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::inspva_pub_ [private]

Definition at line 491 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::insstdev_pub_ [private]

Definition at line 492 of file novatel_gps_nodelet.cpp.

novatel_gps_msgs::NovatelPositionPtr novatel_gps_driver::NovatelGpsNodelet::last_novatel_position_ [private]

Definition at line 541 of file novatel_gps_nodelet.cpp.

ros::Time novatel_gps_driver::NovatelGpsNodelet::last_published_ [private]

Definition at line 540 of file novatel_gps_nodelet.cpp.

ros::Time novatel_gps_driver::NovatelGpsNodelet::last_sync_ [private]

Definition at line 514 of file novatel_gps_nodelet.cpp.

int32_t novatel_gps_driver::NovatelGpsNodelet::measurement_count_ [private]

Definition at line 539 of file novatel_gps_nodelet.cpp.

boost::circular_buffer<ros::Time> novatel_gps_driver::NovatelGpsNodelet::msg_times_ [private]

Buffer of gps message time stamps.

Definition at line 518 of file novatel_gps_nodelet.cpp.

boost::mutex novatel_gps_driver::NovatelGpsNodelet::mutex_ [private]

Definition at line 510 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_imu_pub_ [private]

Definition at line 493 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_position_pub_ [private]

Definition at line 494 of file novatel_gps_nodelet.cpp.

ros::Publisher novatel_gps_driver::NovatelGpsNodelet::novatel_velocity_pub_ [private]

Definition at line 495 of file novatel_gps_nodelet.cpp.

stats::accumulator_set<float, stats::stats< stats::tag::max, stats::tag::min, stats::tag::mean, stats::tag::variance> > novatel_gps_driver::NovatelGpsNodelet::offset_stats_ [private]

Stats on time offset.

Definition at line 524 of file novatel_gps_nodelet.cpp.

double novatel_gps_driver::NovatelGpsNodelet::polling_period_ [private]

Definition at line 468 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_diagnostics_ [private]

Definition at line 482 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_gpgsa_ [private]

Definition at line 469 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_gpgsv_ [private]

Definition at line 470 of file novatel_gps_nodelet.cpp.

bool novatel_gps_driver::NovatelGpsNodelet::publish_imu_messages_ [private]

Definition at line 475 of file novatel_gps_nodelet.cpp.