Class of the NMEA gps plugin. More...

#include <nmea_gps_plugin.h>

Inheritance diagram for gazebo::NmeaGpsPlugin:

Public Member Functions
	NmeaGpsPlugin ()

virtual	~NmeaGpsPlugin ()

Protected Member Functions
virtual void	Load (physics::ModelPtr model, sdf::ElementPtr sdf)
	Load parameters for the nmea gps plugin. More...

virtual void	Reset ()
	Reset the nmea gps plugin. More...

virtual void	Update ()
	Update the sensor state and publish nmea sentence. More...

Private Member Functions
std::string	convertToDmm (double value)
	Convert DDD -> DMM format. More...

std::string	getCheckSum (std::string sentence)

nmea_msgs::Sentence	getGPGGA (ros::Time stamp)
	generate GPGGA sentence More...

nmea_msgs::Sentence	getGPHDT (ros::Time stamp)

nmea_msgs::Sentence	getGPRMC (ros::Time stamp)
	generate GPRMC sentence More...

nmea_msgs::Sentence	getGPVTG (ros::Time stamp)
	generate GPVTG sentence More...

std::string	getHexString (uint8_t value)

std::string	getUnixDay (ros::Time stamp)
	Get Unix day from the timestamp. More...

std::string	getUnixTime (ros::Time stamp)
	Get Unix time from the timestmap. More...

Private Attributes
geographic_msgs::GeoPose	current_geo_pose_

geometry_msgs::Twist	current_twist_

std::string	frame_id_

boost::optional< gazebo::math::Pose >	initial_gazebo_pose_

geographic_msgs::GeoPose	initial_pose_

geodesy::UTMPose	initial_utm_pose_

boost::optional< common::Time >	last_publish_timestamp_

std::string	link_name_

physics::LinkPtr	link_ptr_

physics::ModelPtr	model_ptr_

std::string	namespace_

ros::Publisher	nmea_pub_

std::string	nmea_topic_

ros::NodeHandle	node_handle_

double	orientation_gaussian_noise_

double	position_gaussiaa_noise_

double	publish_rate_

double	reference_altitude_

double	reference_heading_

double	reference_latitude_

double	reference_longitude_

std::unique_ptr< GpsSensorModel >	sensor_model_ptr_

event::ConnectionPtr	update_connection_

double	velocity_gaussian_noise_

physics::WorldPtr	world_ptr_

Detailed Description

Class of the NMEA gps plugin.

Definition at line 104 of file nmea_gps_plugin.h.

Constructor & Destructor Documentation

gazebo::NmeaGpsPlugin::NmeaGpsPlugin ( )

Definition at line 16 of file nmea_gps_plugin.cpp.

gazebo::NmeaGpsPlugin::~NmeaGpsPlugin ( )

virtual

Definition at line 21 of file nmea_gps_plugin.cpp.

Member Function Documentation

std::string gazebo::NmeaGpsPlugin::convertToDmm ( double value )

private

Convert DDD -> DMM format.

Definition at line 429 of file nmea_gps_plugin.cpp.

std::string gazebo::NmeaGpsPlugin::getCheckSum ( std::string sentence )

private

Definition at line 152 of file nmea_gps_plugin.cpp.

nmea_msgs::Sentence gazebo::NmeaGpsPlugin::getGPGGA ( ros::Time stamp )

private

generate GPGGA sentence

See also: https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm?Highlight=GPGGA

Definition at line 172 of file nmea_gps_plugin.cpp.

nmea_msgs::Sentence gazebo::NmeaGpsPlugin::getGPHDT ( ros::Time stamp )

private

Definition at line 271 of file nmea_gps_plugin.cpp.

nmea_msgs::Sentence gazebo::NmeaGpsPlugin::getGPRMC ( ros::Time stamp )

private

generate GPRMC sentence

See also: https://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm

Definition at line 206 of file nmea_gps_plugin.cpp.

nmea_msgs::Sentence gazebo::NmeaGpsPlugin::getGPVTG ( ros::Time stamp )

private

generate GPVTG sentence

See also: https://docs.novatel.com/OEM7/Content/Logs/GPVTG.htm?Highlight=GPVTG

Definition at line 249 of file nmea_gps_plugin.cpp.

std::string gazebo::NmeaGpsPlugin::getHexString ( uint8_t value )

private

Definition at line 117 of file nmea_gps_plugin.cpp.

std::string gazebo::NmeaGpsPlugin::getUnixDay ( ros::Time stamp )

private

Get Unix day from the timestamp.

Definition at line 288 of file nmea_gps_plugin.cpp.

std::string gazebo::NmeaGpsPlugin::getUnixTime ( ros::Time stamp )

private

Get Unix time from the timestmap.

Definition at line 302 of file nmea_gps_plugin.cpp.

void gazebo::NmeaGpsPlugin::Load	(	physics::ModelPtr	model,
		sdf::ElementPtr	sdf
	)

protectedvirtual

Load parameters for the nmea gps plugin.

Definition at line 26 of file nmea_gps_plugin.cpp.

void gazebo::NmeaGpsPlugin::Reset ( )

protectedvirtual

Reset the nmea gps plugin.

Definition at line 167 of file nmea_gps_plugin.cpp.

void gazebo::NmeaGpsPlugin::Update ( )

protectedvirtual

Update the sensor state and publish nmea sentence.

Definition at line 344 of file nmea_gps_plugin.cpp.

Member Data Documentation

geographic_msgs::GeoPose gazebo::NmeaGpsPlugin::current_geo_pose_

private

Definition at line 141 of file nmea_gps_plugin.h.

geometry_msgs::Twist gazebo::NmeaGpsPlugin::current_twist_

private

Definition at line 179 of file nmea_gps_plugin.h.

std::string gazebo::NmeaGpsPlugin::frame_id_

private

Definition at line 132 of file nmea_gps_plugin.h.

boost::optional<gazebo::math::Pose> gazebo::NmeaGpsPlugin::initial_gazebo_pose_

private

Definition at line 187 of file nmea_gps_plugin.h.

geographic_msgs::GeoPose gazebo::NmeaGpsPlugin::initial_pose_

private

Definition at line 140 of file nmea_gps_plugin.h.

geodesy::UTMPose gazebo::NmeaGpsPlugin::initial_utm_pose_

private

Definition at line 142 of file nmea_gps_plugin.h.

boost::optional<common::Time> gazebo::NmeaGpsPlugin::last_publish_timestamp_

private

Definition at line 145 of file nmea_gps_plugin.h.

std::string gazebo::NmeaGpsPlugin::link_name_

private

Definition at line 131 of file nmea_gps_plugin.h.

physics::LinkPtr gazebo::NmeaGpsPlugin::link_ptr_

private

Definition at line 127 of file nmea_gps_plugin.h.

physics::ModelPtr gazebo::NmeaGpsPlugin::model_ptr_

private

Definition at line 128 of file nmea_gps_plugin.h.

std::string gazebo::NmeaGpsPlugin::namespace_

private

Definition at line 130 of file nmea_gps_plugin.h.

ros::Publisher gazebo::NmeaGpsPlugin::nmea_pub_

private

Definition at line 139 of file nmea_gps_plugin.h.

std::string gazebo::NmeaGpsPlugin::nmea_topic_

private

Definition at line 133 of file nmea_gps_plugin.h.

ros::NodeHandle gazebo::NmeaGpsPlugin::node_handle_

private

Definition at line 129 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::orientation_gaussian_noise_

private

Definition at line 182 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::position_gaussiaa_noise_

private

Definition at line 181 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::publish_rate_

private

Definition at line 138 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::reference_altitude_

private

Definition at line 134 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::reference_heading_

private

Definition at line 137 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::reference_latitude_

private

Definition at line 136 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::reference_longitude_

private

Definition at line 135 of file nmea_gps_plugin.h.

std::unique_ptr<GpsSensorModel> gazebo::NmeaGpsPlugin::sensor_model_ptr_

private

Definition at line 180 of file nmea_gps_plugin.h.

event::ConnectionPtr gazebo::NmeaGpsPlugin::update_connection_

private

Definition at line 144 of file nmea_gps_plugin.h.

double gazebo::NmeaGpsPlugin::velocity_gaussian_noise_

private

Definition at line 183 of file nmea_gps_plugin.h.

physics::WorldPtr gazebo::NmeaGpsPlugin::world_ptr_

private

Definition at line 126 of file nmea_gps_plugin.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation