#include <novatel_gps.h>

Public Types
enum	ConnectionType { SERIAL, TCP, UDP, PCAP, INVALID }

enum	ReadResult { READ_SUCCESS = 0, READ_INSUFFICIENT_DATA = 1, READ_TIMEOUT = 2, READ_INTERRUPTED = 3, READ_ERROR = -1, READ_PARSE_FAILED = -2 }

Public Member Functions
void	ApplyVehicleBodyRotation (const bool &apply_rotation)
	Determines whether or not to apply a 90 degree counter-clockwise rotation about Z to the Novatel SPAN frame to match up with the ROS coordinate frame. More...

bool	Connect (const std::string &device, ConnectionType connection)

bool	Connect (const std::string &device, ConnectionType connection, NovatelMessageOpts const &opts)

void	Disconnect ()

std::string	ErrorMsg () const

void	GetClockSteeringMessages (std::vector< novatel_gps_msgs::ClockSteeringPtr > &clocksteering_msgs)
	Provides any CLOCKSTEERING messages that have been received since the last time this was called. More...

void	GetFixMessages (std::vector< gps_common::GPSFixPtr > &fix_messages)
	Provides any GPSFix messages that have been generated since the last time this was called. More...

void	GetGpggaMessages (std::vector< novatel_gps_msgs::GpggaPtr > &gpgga_messages)
	Provides any GPGGA messages that have been received since the last time this was called. More...

void	GetGpgsaMessages (std::vector< novatel_gps_msgs::GpgsaPtr > &gpgsa_messages)
	Provides any GPGSA messages that have been received since the last time this was called. More...

void	GetGpgsvMessages (std::vector< novatel_gps_msgs::GpgsvPtr > &gpgsv_messages)
	Provides any GPGSV messages that have been received since the last time this was called. More...

void	GetGphdtMessages (std::vector< novatel_gps_msgs::GphdtPtr > &gphdt_messages)
	Provides any GPHDT messages that have been received since the last time this was called. More...

void	GetGprmcMessages (std::vector< novatel_gps_msgs::GprmcPtr > &gprmc_messages)
	Provides any GPRMC messages that have been received since the last time this was called. More...

void	GetImuMessages (std::vector< sensor_msgs::ImuPtr > &imu_messages)
	Provides any Imu messages that have been generated since the last time this was called. More...

void	GetInscovMessages (std::vector< novatel_gps_msgs::InscovPtr > &inscov_messages)
	Provides any INSCOV messages that have been received since the last time this was called. More...

void	GetInspvaMessages (std::vector< novatel_gps_msgs::InspvaPtr > &inspva_messages)
	Provides any INSPVA messages that have been received since the last time this was called. More...

void	GetInspvaxMessages (std::vector< novatel_gps_msgs::InspvaxPtr > &inspvax_messages)
	Provides any INSPVAX messages that have been received since the last time this was called. More...

void	GetInsstdevMessages (std::vector< novatel_gps_msgs::InsstdevPtr > &insstdev_messages)
	Provides any INSSTDEV messages that have been received since the last time this was called. More...

void	GetNovatelCorrectedImuData (std::vector< novatel_gps_msgs::NovatelCorrectedImuDataPtr > &imu_messages)
	Provides any CORRIMUDATA messages that have been received since the last time this was called. More...

void	GetNovatelDualAntennaHeadingMessages (std::vector< novatel_gps_msgs::NovatelDualAntennaHeadingPtr > &headings)
	Provides any DUALANTENNAHEADING messages that have been received since the last time this was called. More...

void	GetNovatelHeading2Messages (std::vector< novatel_gps_msgs::NovatelHeading2Ptr > &headings)
	Provides any HEADING2 messages that have been received since the last time this was called. More...

void	GetNovatelPositions (std::vector< novatel_gps_msgs::NovatelPositionPtr > &positions)
	Provides any BESTPOS messages that have been received since the last time this was called. More...

void	GetNovatelPsrdop2Messages (std::vector< novatel_gps_msgs::NovatelPsrdop2Ptr > &psrdop2_messages)
	Provides any PSRDOP2 messages that have been received since the last time this was called. More...

void	GetNovatelUtmPositions (std::vector< novatel_gps_msgs::NovatelUtmPositionPtr > &utm_positions)
	Provides any BESTUTM messages that have been received since the last time this was called. More...

void	GetNovatelVelocities (std::vector< novatel_gps_msgs::NovatelVelocityPtr > &velocities)
	Provides any BESTVEL messages that have been received since the last time this was called. More...

void	GetNovatelXYZPositions (std::vector< novatel_gps_msgs::NovatelXYZPtr > &positions)
	Provides any BESTXYZ messages that have been received since the last time this was called. More...

void	GetRangeMessages (std::vector< novatel_gps_msgs::RangePtr > &range_messages)
	Provides any RANGE messages that have been received since the last time this was called. More...

void	GetTimeMessages (std::vector< novatel_gps_msgs::TimePtr > &time_messages)
	Provides any TIME messages that have been received since the last time this was called. More...

void	GetTrackstatMessages (std::vector< novatel_gps_msgs::TrackstatPtr > &trackstat_msgs)
	Provides any TRACKSTAT messages that have been received since the last time this was called. More...

bool	IsConnected ()

	NovatelGps ()

ReadResult	ProcessData ()
	Processes any data that has been received from the device since the last time this message was called. May result in any number of messages being placed in the individual message buffers. More...

void	SetImuRate (double imu_rate, bool force=true)
	Sets the IMU rate; necessary for producing sensor_msgs/Imu messages. More...

void	SetSerialBaud (int32_t serial_baud)
	Sets the serial baud rate; should be called before configuring a serial connection. More...

bool	Write (const std::string &command)
	Writes the given string of characters to a connected NovAtel device. More...

	~NovatelGps ()

Static Public Member Functions
static ConnectionType	ParseConnection (const std::string &connection)
	Converts the strings "udp", "tcp", or "serial" into the corresponding enum values. More...

Public Attributes
double	gpsfix_sync_tol_

bool	wait_for_sync_

Private Member Functions
bool	Configure (NovatelMessageOpts const &opts)
	(Re)configure the driver with a set of message options More...

bool	CreateIpConnection (const std::string &endpoint, NovatelMessageOpts const &opts)
	Establishes an IP connection with a NovAtel device. More...

bool	CreatePcapConnection (const std::string &device, NovatelMessageOpts const &opts)
	Creates a pcap device for playing back recorded data. More...

bool	CreateSerialConnection (const std::string &device, NovatelMessageOpts const &opts)
	Establishes a serial port connection with a NovAtel device. More...

void	GenerateImuMessages ()
	Processes any messages in our corrimudata & inspva queues in order to generate Imu messages from them. More...

NovatelGps::ReadResult	ParseBinaryMessage (const BinaryMessage &msg, const ros::Time &stamp) noexcept(false)
	Converts a BinaryMessage object into a ROS message of the appropriate type and places it in the appropriate buffer. More...

NovatelGps::ReadResult	ParseNmeaSentence (const NmeaSentence &sentence, const ros::Time &stamp, double most_recent_utc_time) noexcept(false)
	Converts an NMEA sentence into a ROS message of the appropriate type and places it in the appropriate buffer. More...

NovatelGps::ReadResult	ParseNovatelSentence (const NovatelSentence &sentence, const ros::Time &stamp) noexcept(false)
	Converts a NovatelSentence object into a ROS message of the appropriate type and places it in the appropriate buffer. More...

ReadResult	ReadData ()
	Reads data from a connected NovAtel device. Any read data will be appended to data_buffer_. More...

Private Attributes
bool	apply_vehicle_body_rotation_

BestposParser	bestpos_parser_

boost::circular_buffer< novatel_gps_msgs::NovatelPositionPtr >	bestpos_sync_buffer_

BestutmParser	bestutm_parser_

BestvelParser	bestvel_parser_

boost::circular_buffer< novatel_gps_msgs::NovatelVelocityPtr >	bestvel_sync_buffer_

BestxyzParser	bestxyz_parser_

boost::circular_buffer< novatel_gps_msgs::ClockSteeringPtr >	clocksteering_msgs_

ClockSteeringParser	clocksteering_parser_

ConnectionType	connection_

boost::circular_buffer< novatel_gps_msgs::NovatelCorrectedImuDataPtr >	corrimudata_msgs_

CorrImuDataParser	corrimudata_parser_

std::queue< novatel_gps_msgs::NovatelCorrectedImuDataPtr >	corrimudata_queue_

std::vector< uint8_t >	data_buffer_

boost::circular_buffer< novatel_gps_msgs::NovatelDualAntennaHeadingPtr >	dual_antenna_heading_msgs_

DualAntennaHeadingParser	dual_antenna_heading_parser_

std::string	error_msg_

NovatelMessageExtractor	extractor_
	Used to extract messages from the incoming data stream. More...

boost::circular_buffer< novatel_gps_msgs::GpggaPtr >	gpgga_msgs_

GpggaParser	gpgga_parser_

boost::circular_buffer< novatel_gps_msgs::GpgsaPtr >	gpgsa_msgs_

GpgsaParser	gpgsa_parser_

boost::circular_buffer< novatel_gps_msgs::GpgsvPtr >	gpgsv_msgs_

GpgsvParser	gpgsv_parser_

boost::circular_buffer< novatel_gps_msgs::GphdtPtr >	gphdt_msgs_

GphdtParser	gphdt_parser_

boost::circular_buffer< novatel_gps_msgs::GprmcPtr >	gprmc_msgs_

GprmcParser	gprmc_parser_

boost::circular_buffer< novatel_gps_msgs::NovatelHeading2Ptr >	heading2_msgs_

Heading2Parser	heading2_parser_

boost::circular_buffer< sensor_msgs::ImuPtr >	imu_msgs_

double	imu_rate_

bool	imu_rate_forced_

boost::circular_buffer< novatel_gps_msgs::InscovPtr >	inscov_msgs_

InscovParser	inscov_parser_

boost::circular_buffer< novatel_gps_msgs::InspvaPtr >	inspva_msgs_

InspvaParser	inspva_parser_

std::queue< novatel_gps_msgs::InspvaPtr >	inspva_queue_

boost::circular_buffer< novatel_gps_msgs::InspvaxPtr >	inspvax_msgs_

InspvaxParser	inspvax_parser_

boost::circular_buffer< novatel_gps_msgs::InsstdevPtr >	insstdev_msgs_

InsstdevParser	insstdev_parser_

boost::asio::io_service	io_service_

bool	is_connected_

std::vector< uint8_t >	last_tcp_packet_

novatel_gps_msgs::InscovPtr	latest_inscov_

novatel_gps_msgs::InsstdevPtr	latest_insstdev_

novatel_gps_msgs::NovatelPsrdop2Ptr	latest_psrdop2_

std::string	nmea_buffer_
	Buffer containing incomplete data from message parsing. More...

boost::circular_buffer< novatel_gps_msgs::NovatelPositionPtr >	novatel_positions_

boost::circular_buffer< novatel_gps_msgs::NovatelUtmPositionPtr >	novatel_utm_positions_

boost::circular_buffer< novatel_gps_msgs::NovatelVelocityPtr >	novatel_velocities_

boost::circular_buffer< novatel_gps_msgs::NovatelXYZPtr >	novatel_xyz_positions_

pcap_t *	pcap_
	pcap device for testing More...

char	pcap_errbuf_ [MAX_BUFFER_SIZE]

bpf_program	pcap_packet_filter_

boost::circular_buffer< novatel_gps_msgs::NovatelPsrdop2Ptr >	psrdop2_msgs_

Psrdop2Parser	psrdop2_parser_

boost::circular_buffer< novatel_gps_msgs::RangePtr >	range_msgs_

RangeParser	range_parser_

swri_serial_util::SerialPort	serial_

int32_t	serial_baud_

boost::array< uint8_t, 10000 >	socket_buffer_
	Fixed-size buffer for reading directly from sockets. More...

boost::asio::ip::tcp::socket	tcp_socket_

boost::circular_buffer< novatel_gps_msgs::TimePtr >	time_msgs_

TimeParser	time_parser_

boost::circular_buffer< novatel_gps_msgs::TrackstatPtr >	trackstat_msgs_

TrackstatParser	trackstat_parser_

boost::shared_ptr< boost::asio::ip::udp::endpoint >	udp_endpoint_

boost::shared_ptr< boost::asio::ip::udp::socket >	udp_socket_

double	utc_offset_

Static Private Attributes
static constexpr uint16_t	DEFAULT_TCP_PORT = 3001

static constexpr uint16_t	DEFAULT_UDP_PORT = 3002

static constexpr double	DEGREES_TO_RADIANS = M_PI / 180.0

static constexpr double	IMU_TOLERANCE_S = 0.0002

static constexpr size_t	MAX_BUFFER_SIZE = 100

static constexpr uint32_t	SECONDS_PER_WEEK = 604800

static constexpr size_t	SYNC_BUFFER_SIZE = 10

Detailed Description

Definition at line 95 of file novatel_gps.h.

Member Enumeration Documentation

enum novatel_gps_driver::NovatelGps::ConnectionType

Enumerator
SERIAL
TCP
UDP
PCAP
INVALID

Definition at line 98 of file novatel_gps.h.

enum novatel_gps_driver::NovatelGps::ReadResult

Enumerator
READ_SUCCESS
READ_INSUFFICIENT_DATA
READ_TIMEOUT
READ_INTERRUPTED
READ_ERROR
READ_PARSE_FAILED

Definition at line 100 of file novatel_gps.h.

Constructor & Destructor Documentation

novatel_gps_driver::NovatelGps::NovatelGps ( )

Definition at line 45 of file novatel_gps.cpp.

novatel_gps_driver::NovatelGps::~NovatelGps ( )

Definition at line 84 of file novatel_gps.cpp.

Member Function Documentation

void novatel_gps_driver::NovatelGps::ApplyVehicleBodyRotation ( const bool & apply_rotation )

Determines whether or not to apply a 90 degree counter-clockwise rotation about Z to the Novatel SPAN frame to match up with the ROS coordinate frame.

Parameters

apply_rotation A bool indicating whether or not to apply the rotation.

Definition at line 185 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Configure ( NovatelMessageOpts const & opts )

private

(Re)configure the driver with a set of message options

Parameters

opts	A map from message name to log period (seconds)

Returns: True on successful configuration

Definition at line 1447 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Connect	(	const std::string &	device,
		ConnectionType	connection
	)

Connect and configure with default message options.

Parameters

device	For serial connections, a path to a device file handle, e.g. /dev/TTYUSB0; for IP connections, a host:port specification, e.g. "192.168.1.10:3001"
connection	The type of connection.

Returns: True on success

Definition at line 89 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Connect	(	const std::string &	device,
		ConnectionType	connection,
		NovatelMessageOpts const &	opts
	)

Connect and configure with the given message options

Parameters

device	For serial connections, a path to a device file handle, e.g. /dev/TTYUSB0; for IP connections, a host:port specification, e.g. "192.168.1.10:3001"
connection	The type of connection.
opts	Message options to use

Returns: True on success

Definition at line 102 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreateIpConnection	(	const std::string &	endpoint,
		NovatelMessageOpts const &	opts
	)

private

Establishes an IP connection with a NovAtel device.

Based on the current value in connection_, this will create either a TCP or UDP socket; then, based on the value in endpoint, it will either create a connection to a NovAtel device on a specific port or wait for a connection from one. In any case, this method will block until a connection is either established or failed.

After it has been called, Configure() will be called on the device and provided opts in order to configure which logs it will produce. After that, ReadData() and Write() may be used to communicate with the device.

Parameters

endpoint	A host and port specification; e. g., "192.168.1.10:1000". If the host host is omitted, it will listen for a connection the specified port. If the port is omitted, DEFAULT_TCP_PORT will be used for TCP connections and DEFAULT_UDP_PORT for UDP connections.
opts	A map of logs and periods the device should produce.

Returns: false if it failed to create a connection, true otherwise.

Definition at line 606 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreatePcapConnection	(	const std::string &	device,
		NovatelMessageOpts const &	opts
	)

private

Creates a pcap device for playing back recorded data.

Parameters

device
opts

Returns

Definition at line 556 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::CreateSerialConnection	(	const std::string &	device,
		NovatelMessageOpts const &	opts
	)

private

Establishes a serial port connection with a NovAtel device.

It will create a connection set at the baud set by SetSerialBaudRate(), no parity, no flow control, and 8N1 bits, then it will call Configure() on that connection. After this method has succeeded, RedData() and Write() can be used to communicate with the device.

Parameters

device	The device node to connect to; e. g., "/dev/ttyUSB0"
opts	A map of logs and periods the device should produce.

Returns: false if it failed to create a connection, true otherwise.

Definition at line 572 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::Disconnect ( )

Disconnects from a connected device

Definition at line 152 of file novatel_gps.cpp.

std::string novatel_gps_driver::NovatelGps::ErrorMsg ( ) const

inline

Returns: The most recent error message

Definition at line 142 of file novatel_gps.h.

void novatel_gps_driver::NovatelGps::GenerateImuMessages ( )

private

Processes any messages in our corrimudata & inspva queues in order to generate Imu messages from them.

Definition at line 918 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetClockSteeringMessages ( std::vector< novatel_gps_msgs::ClockSteeringPtr > & clocksteering_msgs )

Provides any CLOCKSTEERING messages that have been received since the last time this was called.

Parameters

[out] clocksteering_msgs New CLOCKSTEERING messages.

Definition at line 549 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetFixMessages ( std::vector< gps_common::GPSFixPtr > & fix_messages )

Provides any GPSFix messages that have been generated since the last time this was called.

Parameters

[out] fix_messages New GPSFix messages.

Definition at line 323 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpggaMessages ( std::vector< novatel_gps_msgs::GpggaPtr > & gpgga_messages )

Provides any GPGGA messages that have been received since the last time this was called.

Parameters

[out] gpgga_messages New GPGGA messages.

Definition at line 465 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpgsaMessages ( std::vector< novatel_gps_msgs::GpgsaPtr > & gpgsa_messages )

Provides any GPGSA messages that have been received since the last time this was called.

Parameters

[out] gpgsa_messages New GPGSA messages.

Definition at line 472 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGpgsvMessages ( std::vector< novatel_gps_msgs::GpgsvPtr > & gpgsv_messages )

Provides any GPGSV messages that have been received since the last time this was called.

Parameters

[out] gpgsv_messages New GPGSV messages.

Definition at line 479 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGphdtMessages ( std::vector< novatel_gps_msgs::GphdtPtr > & gphdt_messages )

Provides any GPHDT messages that have been received since the last time this was called.

Parameters

[out] gpgsv_messages New GPHDT messages.

Definition at line 486 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetGprmcMessages ( std::vector< novatel_gps_msgs::GprmcPtr > & gprmc_messages )

Provides any GPRMC messages that have been received since the last time this was called.

Parameters

[out] gprmc_messages New GPRMC messages.

Definition at line 493 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetImuMessages ( std::vector< sensor_msgs::ImuPtr > & imu_messages )

Provides any Imu messages that have been generated since the last time this was called.

Parameters

[out] imu_message New Imu messages.

Definition at line 911 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInscovMessages ( std::vector< novatel_gps_msgs::InscovPtr > & inscov_messages )

Provides any INSCOV messages that have been received since the last time this was called.

Parameters

[out] inscov_messages New INSCOV messages.

Definition at line 500 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInspvaMessages ( std::vector< novatel_gps_msgs::InspvaPtr > & inspva_messages )

Provides any INSPVA messages that have been received since the last time this was called.

Parameters

[out] inspva_messages New INSPVA messages.

Definition at line 507 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInspvaxMessages ( std::vector< novatel_gps_msgs::InspvaxPtr > & inspvax_messages )

Provides any INSPVAX messages that have been received since the last time this was called.

Parameters

[out] inspvax_messages New INSPVAX messages.

Definition at line 514 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetInsstdevMessages ( std::vector< novatel_gps_msgs::InsstdevPtr > & insstdev_messages )

Provides any INSSTDEV messages that have been received since the last time this was called.

Parameters

[out] insstdev_messages New INSSTDEV messages.

Definition at line 521 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelCorrectedImuData ( std::vector< novatel_gps_msgs::NovatelCorrectedImuDataPtr > & imu_messages )

Provides any CORRIMUDATA messages that have been received since the last time this was called.

Parameters

[out] imu_messages New CORRIMUDATA messages.

Definition at line 451 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelDualAntennaHeadingMessages ( std::vector< novatel_gps_msgs::NovatelDualAntennaHeadingPtr > & headings )

Provides any DUALANTENNAHEADING messages that have been received since the last time this was called.

Parameters

[out] headings New DUALANTENNAHEADING messages.

Definition at line 445 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelHeading2Messages ( std::vector< novatel_gps_msgs::NovatelHeading2Ptr > & headings )

Provides any HEADING2 messages that have been received since the last time this was called.

Parameters

[out] headings New HEADING2 messages.

Definition at line 439 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelPositions ( std::vector< novatel_gps_msgs::NovatelPositionPtr > & positions )

Provides any BESTPOS messages that have been received since the last time this was called.

Parameters

[out] positions New BESTPOS messages.

Definition at line 295 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelPsrdop2Messages ( std::vector< novatel_gps_msgs::NovatelPsrdop2Ptr > & psrdop2_messages )

Provides any PSRDOP2 messages that have been received since the last time this was called.

Parameters

[out] psrdop2_messages New PSRDOP2 messages.

Definition at line 458 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelUtmPositions ( std::vector< novatel_gps_msgs::NovatelUtmPositionPtr > & utm_positions )

Provides any BESTUTM messages that have been received since the last time this was called.

Parameters

[out] positions New BESTUTM messages.

Definition at line 309 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelVelocities ( std::vector< novatel_gps_msgs::NovatelVelocityPtr > & velocities )

Provides any BESTVEL messages that have been received since the last time this was called.

Parameters

[out] velocities New BESTVEL messages.

Definition at line 316 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetNovatelXYZPositions ( std::vector< novatel_gps_msgs::NovatelXYZPtr > & positions )

Provides any BESTXYZ messages that have been received since the last time this was called.

Parameters

[out] positions New BESTXYZ messages.

Definition at line 302 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetRangeMessages ( std::vector< novatel_gps_msgs::RangePtr > & range_messages )

Provides any RANGE messages that have been received since the last time this was called.

Parameters

[out] range_messages New RANGE messages.

Definition at line 528 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetTimeMessages ( std::vector< novatel_gps_msgs::TimePtr > & time_messages )

Provides any TIME messages that have been received since the last time this was called.

Parameters

[out] time_messages New TIME messages.

Definition at line 535 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::GetTrackstatMessages ( std::vector< novatel_gps_msgs::TrackstatPtr > & trackstat_msgs )

Provides any TRACKSTAT messages that have been received since the last time this was called.

Parameters

[out] trackstat_msgs New TRACKSTAT messages.

Definition at line 542 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::IsConnected ( )

inline

Returns: true if we are connected to a NovAtel device, false otherwise.

Definition at line 286 of file novatel_gps.h.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseBinaryMessage	(	const BinaryMessage &	msg,
		const ros::Time &	stamp
	)

privatenoexcept

Converts a BinaryMessage object into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters

[in]	msg	A valid binary message
[in]	stamp	A timestamp to set in the ROS message header.

Returns: A value indicating the success of the operation.

Definition at line 1026 of file novatel_gps.cpp.

NovatelGps::ConnectionType novatel_gps_driver::NovatelGps::ParseConnection ( const std::string & connection )

static

Converts the strings "udp", "tcp", or "serial" into the corresponding enum values.

Parameters

connection A string indicating the connection type.

Returns: The corresponding enum value.

Definition at line 130 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseNmeaSentence	(	const NmeaSentence &	sentence,
		const ros::Time &	stamp,
		double	most_recent_utc_time
	)

privatenoexcept

Converts an NMEA sentence into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters

[in]	sentence	A valid NMEA sentence
[in]	stamp	A timestamp to set in the ROS message header.
	most_recent_utc_time	The most recently received time in any GPGGA or GPRMC message; used to adjust timestamps in ROS message headers.

Returns: A value indicating the success of the operation.

Definition at line 1165 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ParseNovatelSentence	(	const NovatelSentence &	sentence,
		const ros::Time &	stamp
	)

privatenoexcept

Converts a NovatelSentence object into a ROS message of the appropriate type and places it in the appropriate buffer.

Parameters

[in]	msg	A valid ASCII NovAtel message message
[in]	stamp	A timestamp to set in the ROS message header.

Returns: A value indicating the success of the operation.

Definition at line 1222 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ProcessData ( )

Processes any data that has been received from the device since the last time this message was called. May result in any number of messages being placed in the individual message buffers.

Returns: A code indicating the success of reading from the device.

Definition at line 190 of file novatel_gps.cpp.

NovatelGps::ReadResult novatel_gps_driver::NovatelGps::ReadData ( )

private

Reads data from a connected NovAtel device. Any read data will be appended to data_buffer_.

Returns: The status of the read operation.

Definition at line 721 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::SetImuRate	(	double	imu_rate,
		bool	force = `true`
	)

Sets the IMU rate; necessary for producing sensor_msgs/Imu messages.

Parameters

imu_rate	The IMU rate in Hz.
force	If this value should be used instead of an autodetected one

Definition at line 1010 of file novatel_gps.cpp.

void novatel_gps_driver::NovatelGps::SetSerialBaud ( int32_t serial_baud )

Sets the serial baud rate; should be called before configuring a serial connection.

Parameters

serial_baud_rate The serial baud rate.

Definition at line 1020 of file novatel_gps.cpp.

bool novatel_gps_driver::NovatelGps::Write ( const std::string & command )

Writes the given string of characters to a connected NovAtel device.

Parameters

command A string to transmit.

Returns: true if we successfully wrote all of the data, false otherwise.

Definition at line 1397 of file novatel_gps.cpp.

Member Data Documentation

bool novatel_gps_driver::NovatelGps::apply_vehicle_body_rotation_

private

Definition at line 535 of file novatel_gps.h.

BestposParser novatel_gps_driver::NovatelGps::bestpos_parser_

private

Definition at line 477 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelPositionPtr> novatel_gps_driver::NovatelGps::bestpos_sync_buffer_

private

Definition at line 516 of file novatel_gps.h.

BestutmParser novatel_gps_driver::NovatelGps::bestutm_parser_

private

Definition at line 479 of file novatel_gps.h.

BestvelParser novatel_gps_driver::NovatelGps::bestvel_parser_

private

Definition at line 480 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelVelocityPtr> novatel_gps_driver::NovatelGps::bestvel_sync_buffer_

private

Definition at line 517 of file novatel_gps.h.

BestxyzParser novatel_gps_driver::NovatelGps::bestxyz_parser_

private

Definition at line 478 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::ClockSteeringPtr> novatel_gps_driver::NovatelGps::clocksteering_msgs_

private

Definition at line 500 of file novatel_gps.h.

ClockSteeringParser novatel_gps_driver::NovatelGps::clocksteering_parser_

private

Definition at line 483 of file novatel_gps.h.

ConnectionType novatel_gps_driver::NovatelGps::connection_

private

Definition at line 439 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelCorrectedImuDataPtr> novatel_gps_driver::NovatelGps::corrimudata_msgs_

private

Definition at line 501 of file novatel_gps.h.

CorrImuDataParser novatel_gps_driver::NovatelGps::corrimudata_parser_

private

Definition at line 484 of file novatel_gps.h.

std::queue<novatel_gps_msgs::NovatelCorrectedImuDataPtr> novatel_gps_driver::NovatelGps::corrimudata_queue_

private

Definition at line 528 of file novatel_gps.h.

std::vector<uint8_t> novatel_gps_driver::NovatelGps::data_buffer_

private

Variable-length buffer that has data continually appended to it until messages are parsed from it

Definition at line 461 of file novatel_gps.h.

constexpr uint16_t novatel_gps_driver::NovatelGps::DEFAULT_TCP_PORT = 3001

staticprivate

Definition at line 431 of file novatel_gps.h.

constexpr uint16_t novatel_gps_driver::NovatelGps::DEFAULT_UDP_PORT = 3002

staticprivate

Definition at line 432 of file novatel_gps.h.

constexpr double novatel_gps_driver::NovatelGps::DEGREES_TO_RADIANS = M_PI / 180.0

staticprivate

Definition at line 437 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelDualAntennaHeadingPtr> novatel_gps_driver::NovatelGps::dual_antenna_heading_msgs_

private

Definition at line 519 of file novatel_gps.h.

DualAntennaHeadingParser novatel_gps_driver::NovatelGps::dual_antenna_heading_parser_

private

Definition at line 482 of file novatel_gps.h.

std::string novatel_gps_driver::NovatelGps::error_msg_

private

Definition at line 441 of file novatel_gps.h.

NovatelMessageExtractor novatel_gps_driver::NovatelGps::extractor_

private

Used to extract messages from the incoming data stream.

Definition at line 474 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpggaPtr> novatel_gps_driver::NovatelGps::gpgga_msgs_

private

Definition at line 502 of file novatel_gps.h.

GpggaParser novatel_gps_driver::NovatelGps::gpgga_parser_

private

Definition at line 485 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpgsaPtr> novatel_gps_driver::NovatelGps::gpgsa_msgs_

private

Definition at line 503 of file novatel_gps.h.

GpgsaParser novatel_gps_driver::NovatelGps::gpgsa_parser_

private

Definition at line 486 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GpgsvPtr> novatel_gps_driver::NovatelGps::gpgsv_msgs_

private

Definition at line 504 of file novatel_gps.h.

GpgsvParser novatel_gps_driver::NovatelGps::gpgsv_parser_

private

Definition at line 487 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GphdtPtr> novatel_gps_driver::NovatelGps::gphdt_msgs_

private

Definition at line 505 of file novatel_gps.h.

GphdtParser novatel_gps_driver::NovatelGps::gphdt_parser_

private

Definition at line 488 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::GprmcPtr> novatel_gps_driver::NovatelGps::gprmc_msgs_

private

Definition at line 506 of file novatel_gps.h.

GprmcParser novatel_gps_driver::NovatelGps::gprmc_parser_

private

Definition at line 489 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::gpsfix_sync_tol_

Definition at line 330 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelHeading2Ptr> novatel_gps_driver::NovatelGps::heading2_msgs_

private

Definition at line 518 of file novatel_gps.h.

Heading2Parser novatel_gps_driver::NovatelGps::heading2_parser_

private

Definition at line 481 of file novatel_gps.h.

boost::circular_buffer<sensor_msgs::ImuPtr> novatel_gps_driver::NovatelGps::imu_msgs_

private

Definition at line 507 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::imu_rate_

private

Definition at line 532 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::imu_rate_forced_

private

Definition at line 444 of file novatel_gps.h.

constexpr double novatel_gps_driver::NovatelGps::IMU_TOLERANCE_S = 0.0002

staticprivate

Definition at line 436 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InscovPtr> novatel_gps_driver::NovatelGps::inscov_msgs_

private

Definition at line 508 of file novatel_gps.h.

InscovParser novatel_gps_driver::NovatelGps::inscov_parser_

private

Definition at line 490 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InspvaPtr> novatel_gps_driver::NovatelGps::inspva_msgs_

private

Definition at line 509 of file novatel_gps.h.

InspvaParser novatel_gps_driver::NovatelGps::inspva_parser_

private

Definition at line 491 of file novatel_gps.h.

std::queue<novatel_gps_msgs::InspvaPtr> novatel_gps_driver::NovatelGps::inspva_queue_

private

Definition at line 529 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InspvaxPtr> novatel_gps_driver::NovatelGps::inspvax_msgs_

private

Definition at line 510 of file novatel_gps.h.

InspvaxParser novatel_gps_driver::NovatelGps::inspvax_parser_

private

Definition at line 492 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::InsstdevPtr> novatel_gps_driver::NovatelGps::insstdev_msgs_

private

Definition at line 511 of file novatel_gps.h.

InsstdevParser novatel_gps_driver::NovatelGps::insstdev_parser_

private

Definition at line 493 of file novatel_gps.h.

boost::asio::io_service novatel_gps_driver::NovatelGps::io_service_

private

Definition at line 453 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::is_connected_

private

Definition at line 443 of file novatel_gps.h.

std::vector<uint8_t> novatel_gps_driver::NovatelGps::last_tcp_packet_

private

Definition at line 471 of file novatel_gps.h.

novatel_gps_msgs::InscovPtr novatel_gps_driver::NovatelGps::latest_inscov_

private

Definition at line 531 of file novatel_gps.h.

novatel_gps_msgs::InsstdevPtr novatel_gps_driver::NovatelGps::latest_insstdev_

private

Definition at line 530 of file novatel_gps.h.

novatel_gps_msgs::NovatelPsrdop2Ptr novatel_gps_driver::NovatelGps::latest_psrdop2_

private

Definition at line 525 of file novatel_gps.h.

constexpr size_t novatel_gps_driver::NovatelGps::MAX_BUFFER_SIZE = 100

staticprivate

Definition at line 433 of file novatel_gps.h.

std::string novatel_gps_driver::NovatelGps::nmea_buffer_

private

Buffer containing incomplete data from message parsing.

Definition at line 463 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelPositionPtr> novatel_gps_driver::NovatelGps::novatel_positions_

private

Definition at line 512 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelUtmPositionPtr> novatel_gps_driver::NovatelGps::novatel_utm_positions_

private

Definition at line 514 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelVelocityPtr> novatel_gps_driver::NovatelGps::novatel_velocities_

private

Definition at line 515 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelXYZPtr> novatel_gps_driver::NovatelGps::novatel_xyz_positions_

private

Definition at line 513 of file novatel_gps.h.

pcap_t* novatel_gps_driver::NovatelGps::pcap_

private

pcap device for testing

Definition at line 468 of file novatel_gps.h.

char novatel_gps_driver::NovatelGps::pcap_errbuf_[MAX_BUFFER_SIZE]

private

Definition at line 470 of file novatel_gps.h.

bpf_program novatel_gps_driver::NovatelGps::pcap_packet_filter_

private

Definition at line 469 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::NovatelPsrdop2Ptr> novatel_gps_driver::NovatelGps::psrdop2_msgs_

private

Definition at line 520 of file novatel_gps.h.

Psrdop2Parser novatel_gps_driver::NovatelGps::psrdop2_parser_

private

Definition at line 494 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::RangePtr> novatel_gps_driver::NovatelGps::range_msgs_

private

Definition at line 521 of file novatel_gps.h.

RangeParser novatel_gps_driver::NovatelGps::range_parser_

private

Definition at line 495 of file novatel_gps.h.

constexpr uint32_t novatel_gps_driver::NovatelGps::SECONDS_PER_WEEK = 604800

staticprivate

Definition at line 435 of file novatel_gps.h.

swri_serial_util::SerialPort novatel_gps_driver::NovatelGps::serial_

private

Definition at line 450 of file novatel_gps.h.

int32_t novatel_gps_driver::NovatelGps::serial_baud_

private

Definition at line 449 of file novatel_gps.h.

boost::array<uint8_t, 10000> novatel_gps_driver::NovatelGps::socket_buffer_

private

Fixed-size buffer for reading directly from sockets.

Definition at line 465 of file novatel_gps.h.

constexpr size_t novatel_gps_driver::NovatelGps::SYNC_BUFFER_SIZE = 10

staticprivate

Definition at line 434 of file novatel_gps.h.

boost::asio::ip::tcp::socket novatel_gps_driver::NovatelGps::tcp_socket_

private

Definition at line 454 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::TimePtr> novatel_gps_driver::NovatelGps::time_msgs_

private

Definition at line 522 of file novatel_gps.h.

TimeParser novatel_gps_driver::NovatelGps::time_parser_

private

Definition at line 496 of file novatel_gps.h.

boost::circular_buffer<novatel_gps_msgs::TrackstatPtr> novatel_gps_driver::NovatelGps::trackstat_msgs_

private

Definition at line 523 of file novatel_gps.h.

TrackstatParser novatel_gps_driver::NovatelGps::trackstat_parser_

private

Definition at line 497 of file novatel_gps.h.

boost::shared_ptr<boost::asio::ip::udp::endpoint> novatel_gps_driver::NovatelGps::udp_endpoint_

private

Definition at line 456 of file novatel_gps.h.

boost::shared_ptr<boost::asio::ip::udp::socket> novatel_gps_driver::NovatelGps::udp_socket_

private

Definition at line 455 of file novatel_gps.h.

double novatel_gps_driver::NovatelGps::utc_offset_

private

Definition at line 446 of file novatel_gps.h.

bool novatel_gps_driver::NovatelGps::wait_for_sync_

Definition at line 331 of file novatel_gps.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation