kvh_geo_fog_3d_node.cpp File Reference

Contains code using the kvh driver and eventually the nodelet. More...

#include "unistd.h"
#include <map>
#include <cmath>
#include "kvh_geo_fog_3d_driver.hpp"
#include "kvh_geo_fog_3d_global_vars.hpp"
#include "spatial_packets.h"
#include "kvh_diagnostics_container.hpp"
#include "ros/ros.h"
#include "tf2/LinearMath/Quaternion.h"
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DSystemState.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DSatellites.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DDetailSatellites.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DLocalMagneticField.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DUTMPosition.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DECEFPos.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DNorthSeekingInitStatus.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DOdometerState.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DRawGNSS.h>
#include <kvh_geo_fog_3d_msgs/KvhGeoFog3DRawSensors.h>
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/NavSatFix.h"
#include "sensor_msgs/NavSatStatus.h"
#include "sensor_msgs/MagneticField.h"
#include "nav_msgs/Odometry.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Vector3.h"
#include "geometry_msgs/Vector3Stamped.h"

Include dependency graph for kvh_geo_fog_3d_node.cpp:

Go to the source code of this file.

Functions
double	BoundFromNegPiToPi (const double &_value)
double	BoundFromNegPiToPi (const float &_value)
double	BoundFromZeroTo2Pi (const double &_value)
double	BoundFromZeroTo2Pi (const float &_value)
int	GetInitOptions (ros::NodeHandle &_node, kvh::KvhInitOptions &_initOptions)
int	main (int argc, char **argv)
void	SetupUpdater (diagnostic_updater::Updater *_diagnostics, mitre::KVH::DiagnosticsContainer *_diagContainer)

Detailed Description

Contains code using the kvh driver and eventually the nodelet.

Author

Trevor Bostic

Todo:

Switch publishers to DiagnosticPublisher, which will let us track frequencies (see http://docs.ros.org/api/diagnostic_updater/html/classdiagnostic__updater_1_1DiagnosedPublisher.html)

Definition in file kvh_geo_fog_3d_node.cpp.

Function Documentation

double BoundFromNegPiToPi ( const double &  _value )

inline

Definition at line 74 of file kvh_geo_fog_3d_node.cpp.

double BoundFromNegPiToPi ( const float &  _value )

inline

Definition at line 84 of file kvh_geo_fog_3d_node.cpp.

double BoundFromZeroTo2Pi ( const double &  _value )

inline

Definition at line 95 of file kvh_geo_fog_3d_node.cpp.

double BoundFromZeroTo2Pi ( const float &  _value )

inline

Definition at line 100 of file kvh_geo_fog_3d_node.cpp.

int GetInitOptions	(	ros::NodeHandle &	_node,
		kvh::KvhInitOptions &	_initOptions
	)

Definition at line 115 of file kvh_geo_fog_3d_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Attention

The raw gnss has an additional field called floating ambiguity heading. It is not implemented in their api. If we wish to implement this, we would need to make an extension similar to what we did for the UTM packet.

Definition at line 149 of file kvh_geo_fog_3d_node.cpp.

void SetupUpdater	(	diagnostic_updater::Updater *	_diagnostics,
		mitre::KVH::DiagnosticsContainer *	_diagContainer
	)

<

Todo:

This should probably contain the serial number of the unit, but we only get that after a message read

Todo:

Add a diagnostics expected packet frequency for important packets and verify

Definition at line 105 of file kvh_geo_fog_3d_node.cpp.