#include <message_publisher.h>

Public Member Functions
uint32_t	getMaxOutputFrequency (void) const

void	initPublishers (ros::NodeHandle &ref_ros_node_handle, const ConfigStore &ref_config_store)

	MessagePublisher (void)

void	publish (const ros::Time &ref_ros_time, SbgEComClass sbg_msg_class, SbgEComMsgId sbg_msg_id, const SbgBinaryLogData &ref_sbg_log)

Private Member Functions
void	defineRosStandardPublishers (ros::NodeHandle &ref_ros_node_handle)

uint32_t	getCorrespondingFrequency (SbgEComOutputMode output_mode) const

std::string	getOutputTopicName (SbgEComMsgId sbg_message_id) const

void	initPublisher (ros::NodeHandle &ref_ros_node_handle, SbgEComMsgId sbg_msg_id, SbgEComOutputMode output_conf, const std::string &ref_output_topic)

void	processRosImuMessage (void)

void	processRosVelMessage (void)

void	publishEkfNavigationData (const SbgBinaryLogData &ref_sbg_log)

void	publishFluidPressureData (const SbgBinaryLogData &ref_sbg_log)

void	publishGpsPosData (const SbgBinaryLogData &ref_sbg_log)

void	publishIMUData (const SbgBinaryLogData &ref_sbg_log)

void	publishMagData (const SbgBinaryLogData &ref_sbg_log)

void	publishUtcData (const SbgBinaryLogData &ref_sbg_log)

void	updateMaxOutputFrequency (SbgEComOutputMode output_mode)

Private Attributes
ros::Publisher	m_fluid_pub_

ros::Publisher	m_imu_pub_

ros::Publisher	m_mag_pub_

uint32_t	m_max_mesages_

MessageWrapper	m_message_wrapper_

ros::Publisher	m_nav_sat_fix_pub_

SbgEComOutputMode	m_output_mode_

ros::Publisher	m_pos_ecef_pub_

sbg_driver::SbgEkfEuler	m_sbg_ekf_euler_message_

sbg_driver::SbgEkfNav	m_sbg_ekf_nav_message_

sbg_driver::SbgEkfQuat	m_sbg_ekf_quat_message_

sbg_driver::SbgImuData	m_sbg_imu_message_

ros::Publisher	m_sbgAirData_pub_

ros::Publisher	m_sbgEkfEuler_pub_

ros::Publisher	m_sbgEkfNav_pub_

ros::Publisher	m_sbgEkfQuat_pub_

ros::Publisher	m_sbgEventA_pub_

ros::Publisher	m_sbgEventB_pub_

ros::Publisher	m_sbgEventC_pub_

ros::Publisher	m_sbgEventD_pub_

ros::Publisher	m_sbgEventE_pub_

ros::Publisher	m_sbgGpsHdt_pub_

ros::Publisher	m_sbgGpsPos_pub_

ros::Publisher	m_sbgGpsRaw_pub_

ros::Publisher	m_sbgGpsVel_pub_

ros::Publisher	m_sbgImuData_pub_

ros::Publisher	m_sbgImuShort_pub_

ros::Publisher	m_sbgMag_pub_

ros::Publisher	m_sbgMagCalib_pub_

ros::Publisher	m_sbgOdoVel_pub_

ros::Publisher	m_sbgShipMotion_pub_

ros::Publisher	m_sbgStatus_pub_

ros::Publisher	m_sbgUtcTime_pub_

ros::Publisher	m_temp_pub_

ros::Publisher	m_utc_reference_pub_

ros::Publisher	m_velocity_pub_

Detailed Description

Class to publish all SBG-ROS messages to the corresponding publishers.

Definition at line 44 of file message_publisher.h.

Constructor & Destructor Documentation

MessagePublisher::MessagePublisher ( void )

Default constructor.

Class to publish all SBG-ROS messages to the corresponding publishers.

Definition at line 12 of file message_publisher.cpp.

Member Function Documentation

void MessagePublisher::defineRosStandardPublishers ( ros::NodeHandle & ref_ros_node_handle )

private

Define standard ROS publishers.

Parameters

[in] ref_ros_node_handle Ros NodeHandle to advertise the publisher.

Definition at line 285 of file message_publisher.cpp.

uint32_t MessagePublisher::getCorrespondingFrequency ( SbgEComOutputMode output_mode ) const

private

Get the corresponding frequency for the SBG output mode.

Parameters

[in] output_mode Output mode.

Returns: Output frequency (in Hz).

Definition at line 49 of file message_publisher.cpp.

uint32_t MessagePublisher::getMaxOutputFrequency ( void ) const

Get the maximal output frequency for the publisher.

Returns: Maixmal output frequency (in Hz).

Definition at line 490 of file message_publisher.cpp.

std::string MessagePublisher::getOutputTopicName ( SbgEComMsgId sbg_message_id ) const

private

Get the corresponding topic name output for the SBG output mode.

Parameters

[in] sbg_message_id SBG message ID.

Returns: Output topic name.

Definition at line 94 of file message_publisher.cpp.

void MessagePublisher::initPublisher	(	ros::NodeHandle &	ref_ros_node_handle,
		SbgEComMsgId	sbg_msg_id,
		SbgEComOutputMode	output_conf,
		const std::string &	ref_output_topic
	)

private

Initialize the publisher for the specified SBG Id, and the output configuration.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	sbg_msg_id	Id of the SBG message.
[in]	output_conf	Output configuration.
[in]	ref_output_topic	Output topic for the publisher.

Definition at line 166 of file message_publisher.cpp.

void MessagePublisher::initPublishers	(	ros::NodeHandle &	ref_ros_node_handle,
		const ConfigStore &	ref_config_store
	)

Initialize the publishers for the output configuration.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	ref_config_store	Store configuration for the publishers.

Definition at line 499 of file message_publisher.cpp.

void MessagePublisher::processRosImuMessage ( void )

private

Process a ROS IMU standard message.

Definition at line 395 of file message_publisher.cpp.

void MessagePublisher::processRosVelMessage ( void )

private

Process a ROS Velocity standard message.

Definition at line 380 of file message_publisher.cpp.

void MessagePublisher::publish	(	const ros::Time &	ref_ros_time,
		SbgEComClass	sbg_msg_class,
		SbgEComMsgId	sbg_msg_id,
		const SbgBinaryLogData &	ref_sbg_log
	)

Publish the received SbgLog if the corresponding publisher is defined.

Parameters

[in]	ref_ros_time	ROS processing time for the messages.
[in]	sbg_msg_class	Class ID of the SBG message.
[in]	sbg_msg_id	Id of the SBG message.
[in]	ref_sbg_log	SBG binary log.

Definition at line 517 of file message_publisher.cpp.

void MessagePublisher::publishEkfNavigationData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG EkfNav log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 436 of file message_publisher.cpp.

void MessagePublisher::publishFluidPressureData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG Fluid pressure log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 421 of file message_publisher.cpp.

void MessagePublisher::publishGpsPosData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG GpsPos log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 470 of file message_publisher.cpp.

void MessagePublisher::publishIMUData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG IMU log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 364 of file message_publisher.cpp.

void MessagePublisher::publishMagData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG Magnetic log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 406 of file message_publisher.cpp.

void MessagePublisher::publishUtcData ( const SbgBinaryLogData & ref_sbg_log )

private

Publish a received SBG UTC log.

Parameters

[in] ref_sbg_log SBG log.

Definition at line 451 of file message_publisher.cpp.

void MessagePublisher::updateMaxOutputFrequency ( SbgEComOutputMode output_mode )

private

Update the maximal output frequency for the defined pubishers. Each time a new publisher is defined, update the maximal output frequency if required.

Parameters

[in] output_mode_freq Output mode.

Definition at line 23 of file message_publisher.cpp.

Member Data Documentation

ros::Publisher sbg::MessagePublisher::m_fluid_pub_

private

Definition at line 78 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_imu_pub_

private

Definition at line 70 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_mag_pub_

private

Definition at line 77 of file message_publisher.h.

uint32_t sbg::MessagePublisher::m_max_mesages_

private

Definition at line 86 of file message_publisher.h.

MessageWrapper sbg::MessagePublisher::m_message_wrapper_

private

Definition at line 84 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_nav_sat_fix_pub_

private

Definition at line 82 of file message_publisher.h.

SbgEComOutputMode sbg::MessagePublisher::m_output_mode_

private

Definition at line 85 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_pos_ecef_pub_

private

Definition at line 79 of file message_publisher.h.

sbg_driver::SbgEkfEuler sbg::MessagePublisher::m_sbg_ekf_euler_message_

private

Definition at line 74 of file message_publisher.h.

sbg_driver::SbgEkfNav sbg::MessagePublisher::m_sbg_ekf_nav_message_

private

Definition at line 73 of file message_publisher.h.

sbg_driver::SbgEkfQuat sbg::MessagePublisher::m_sbg_ekf_quat_message_

private

Definition at line 72 of file message_publisher.h.

sbg_driver::SbgImuData sbg::MessagePublisher::m_sbg_imu_message_

private

Definition at line 71 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgAirData_pub_

private

Definition at line 68 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEkfEuler_pub_

private

Definition at line 51 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEkfNav_pub_

private

Definition at line 53 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEkfQuat_pub_

private

Definition at line 52 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEventA_pub_

private

Definition at line 62 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEventB_pub_

private

Definition at line 63 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEventC_pub_

private

Definition at line 64 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEventD_pub_

private

Definition at line 65 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgEventE_pub_

private

Definition at line 66 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgGpsHdt_pub_

private

Definition at line 59 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgGpsPos_pub_

private

Definition at line 58 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgGpsRaw_pub_

private

Definition at line 60 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgGpsVel_pub_

private

Definition at line 57 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgImuData_pub_

private

Definition at line 50 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgImuShort_pub_

private

Definition at line 67 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgMag_pub_

private

Definition at line 55 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgMagCalib_pub_

private

Definition at line 56 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgOdoVel_pub_

private

Definition at line 61 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgShipMotion_pub_

private

Definition at line 54 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgStatus_pub_

private

Definition at line 48 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_sbgUtcTime_pub_

private

Definition at line 49 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_temp_pub_

private

Definition at line 76 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_utc_reference_pub_

private

Definition at line 81 of file message_publisher.h.

ros::Publisher sbg::MessagePublisher::m_velocity_pub_

private

Definition at line 80 of file message_publisher.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation