#include <message_wrapper.h>

Public Member Functions
const sensor_msgs::FluidPressure	createRosFluidPressureMessage (const sbg_driver::SbgAirData &ref_sbg_air_msg) const

const sensor_msgs::Imu	createRosImuMessage (const sbg_driver::SbgImuData &ref_sbg_imu_msg, const sbg_driver::SbgEkfQuat &ref_sbg_quat_msg) const

const sensor_msgs::MagneticField	createRosMagneticMessage (const sbg_driver::SbgMag &ref_sbg_mag_msg) const

const sensor_msgs::NavSatFix	createRosNavSatFixMessage (const sbg_driver::SbgGpsPos &ref_sbg_gps_msg) const

const geometry_msgs::PointStamped	createRosPointStampedMessage (const sbg_driver::SbgEkfNav &ref_sbg_ekf_msg) const

const sensor_msgs::Temperature	createRosTemperatureMessage (const sbg_driver::SbgImuData &ref_sbg_imu_msg) const

const geometry_msgs::TwistStamped	createRosTwistStampedMessage (const sbg_driver::SbgEkfEuler &ref_sbg_ekf_vel_msg, const sbg_driver::SbgEkfNav &ref_sbg_ekf_nav_msg, const sbg_driver::SbgImuData &ref_sbg_imu_msg) const

const geometry_msgs::TwistStamped	createRosTwistStampedMessage (const sbg_driver::SbgEkfQuat &ref_sbg_ekf_vel_msg, const sbg_driver::SbgEkfNav &ref_sbg_ekf_nav_msg, const sbg_driver::SbgImuData &ref_sbg_imu_msg) const

const sensor_msgs::TimeReference	createRosUtcTimeReferenceMessage (const sbg_driver::SbgUtcTime &ref_sbg_utc_msg) const

const sbg_driver::SbgAirData	createSbgAirDataMessage (const SbgLogAirData &ref_air_data_log) const

const sbg_driver::SbgEkfEuler	createSbgEkfEulerMessage (const SbgLogEkfEulerData &ref_log_ekf_euler) const

const sbg_driver::SbgEkfNav	createSbgEkfNavMessage (const SbgLogEkfNavData &ref_log_ekf_nav) const

const sbg_driver::SbgEkfQuat	createSbgEkfQuatMessage (const SbgLogEkfQuatData &ref_log_ekf_quat) const

const sbg_driver::SbgEvent	createSbgEventMessage (const SbgLogEvent &ref_log_event) const

const sbg_driver::SbgGpsHdt	createSbgGpsHdtMessage (const SbgLogGpsHdt &ref_log_gps_hdt) const

const sbg_driver::SbgGpsPos	createSbgGpsPosMessage (const SbgLogGpsPos &ref_log_gps_pos) const

const sbg_driver::SbgGpsRaw	createSbgGpsRawMessage (const SbgLogGpsRaw &ref_log_gps_raw) const

const sbg_driver::SbgGpsVel	createSbgGpsVelMessage (const SbgLogGpsVel &ref_log_gps_vel) const

const sbg_driver::SbgImuData	createSbgImuDataMessage (const SbgLogImuData &ref_log_imu_data) const

const sbg_driver::SbgImuShort	createSbgImuShortMessage (const SbgLogImuShort &ref_short_imu_log) const

const sbg_driver::SbgMagCalib	createSbgMagCalibMessage (const SbgLogMagCalib &ref_log_mag_calib) const

const sbg_driver::SbgMag	createSbgMagMessage (const SbgLogMag &ref_log_mag) const

const sbg_driver::SbgOdoVel	createSbgOdoVelMessage (const SbgLogOdometerData &ref_log_odo) const

const sbg_driver::SbgShipMotion	createSbgShipMotionMessage (const SbgLogShipMotionData &ref_log_ship_motion) const

const sbg_driver::SbgStatus	createSbgStatusMessage (const SbgLogStatusData &ref_log_status) const

const sbg_driver::SbgUtcTime	createSbgUtcTimeMessage (const SbgLogUtcData &ref_log_utc)

	MessageWrapper (void)

void	setRosProcessingTime (const ros::Time &ref_ros_time)

Private Member Functions
const ros::Time	computeCorrectedRosTime (uint32_t device_timestamp) const

const ros::Time	convertUtcTimeToEpoch (const sbg_driver::SbgUtcTime &ref_sbg_utc_msg) const

const sbg_driver::SbgAirDataStatus	createAirDataStatusMessage (const SbgLogAirData &ref_sbg_air_data) const

const sbg_driver::SbgEkfStatus	createEkfStatusMessage (uint32_t ekf_status) const

template<typename T >
const geometry_msgs::Vector3	createGeometryVector3 (const T *p_array, size_t array_size) const

const sbg_driver::SbgGpsPosStatus	createGpsPosStatusMessage (const SbgLogGpsPos &ref_log_gps_pos) const

const sbg_driver::SbgGpsVelStatus	createGpsVelStatusMessage (const SbgLogGpsVel &ref_log_gps_vel) const

const sbg_driver::SbgImuStatus	createImuStatusMessage (uint16_t sbg_imu_status) const

const sbg_driver::SbgMagStatus	createMagStatusMessage (const SbgLogMag &ref_log_mag) const

const std_msgs::Header	createRosHeader (uint32_t device_timestamp) const

const geometry_msgs::TwistStamped	createRosTwistStampedMessage (const sbg::SbgVector3f &body_vel, const sbg_driver::SbgImuData &ref_sbg_imu_msg) const

const sbg_driver::SbgShipMotionStatus	createShipMotionStatusMessage (const SbgLogShipMotionData &ref_log_ship_motion) const

const sbg_driver::SbgStatusAiding	createStatusAidingMessage (const SbgLogStatusData &ref_log_status) const

const sbg_driver::SbgStatusCom	createStatusComMessage (const SbgLogStatusData &ref_log_status) const

const sbg_driver::SbgStatusGeneral	createStatusGeneralMessage (const SbgLogStatusData &ref_log_status) const

const sbg_driver::SbgUtcTimeStatus	createUtcStatusMessage (const SbgLogUtcData &ref_log_utc) const

uint32_t	getNumberOfDaysInMonth (uint16_t year, uint8_t month_index) const

uint32_t	getNumberOfDaysInYear (uint16_t year) const

bool	isLeapYear (uint16_t year) const

Private Attributes
bool	m_first_valid_utc_

sbg_driver::SbgUtcTime	m_last_sbg_utc_

ros::Time	m_ros_processing_time_

Detailed Description

Class to wrap the SBG logs into ROS messages.

Definition at line 79 of file message_wrapper.h.

Constructor & Destructor Documentation

MessageWrapper::MessageWrapper ( void )

Default constructor.

Class to wrap the SBG logs into ROS messages.

Definition at line 16 of file message_wrapper.cpp.

Member Function Documentation

const ros::Time MessageWrapper::computeCorrectedRosTime ( uint32_t device_timestamp ) const

private

Compute corrected ROS time for the device timestamp.

Parameters

[in] device_timestamp SBG device timestamp (in microseconds).

Returns: ROS time.

Definition at line 76 of file message_wrapper.cpp.

const ros::Time MessageWrapper::convertUtcTimeToEpoch ( const sbg_driver::SbgUtcTime & ref_sbg_utc_msg ) const

private

Convert the UTC time to an Epoch time.

Parameters

[in] ref_sbg_utc_msg SBG-ROS UTC message.

Returns: Converted Epoch time (in s).

Definition at line 303 of file message_wrapper.cpp.

const sbg_driver::SbgAirDataStatus MessageWrapper::createAirDataStatusMessage ( const SbgLogAirData & ref_sbg_air_data ) const

private

Create a SBG-ROS air data status message.

Parameters

[in] ref_sbg_air_data SBG AirData log.

Returns: SBG-ROS air data status message.

Definition at line 338 of file message_wrapper.cpp.

const sbg_driver::SbgEkfStatus MessageWrapper::createEkfStatusMessage ( uint32_t ekf_status ) const

private

Create SBG-ROS Ekf status message.

Parameters

[in] ekf_status SBG Ekf status.

Returns: Ekf status message.

Definition at line 96 of file message_wrapper.cpp.

template<typename T >

const geometry_msgs::Vector3 sbg::MessageWrapper::createGeometryVector3	(	const T *	p_array,
		size_t	array_size
	)		const

inlineprivate

Create a geometry message Vector3 from a raw input vector.

T Numeric template type.

Parameters

[in]	p_array	Raw input vector.
[in]	array_size	Raw vector size, should be defined as 3.

Returns: GeometryMsg Vector3.

Definition at line 100 of file message_wrapper.h.

const sbg_driver::SbgGpsPosStatus MessageWrapper::createGpsPosStatusMessage ( const SbgLogGpsPos & ref_log_gps_pos ) const

private

Create SBG-ROS GPS Position status message.

Parameters

[in] ref_log_gps_pos SBG GPS position log.

Returns: GPS Position status.

Definition at line 121 of file message_wrapper.cpp.

const sbg_driver::SbgGpsVelStatus MessageWrapper::createGpsVelStatusMessage ( const SbgLogGpsVel & ref_log_gps_vel ) const

private

Create SBG-ROS GPS Velocity status message.

Parameters

[in] ref_log_gps_vel SBG GPS Velocity log.

Returns: GPS Velocity status.

Definition at line 136 of file message_wrapper.cpp.

const sbg_driver::SbgImuStatus MessageWrapper::createImuStatusMessage ( uint16_t sbg_imu_status ) const

private

Create a SBG-ROS IMU status message.

Parameters

[in] sbg_imu_status SBG IMU status.

Returns: IMU status message.

Definition at line 146 of file message_wrapper.cpp.

const sbg_driver::SbgMagStatus MessageWrapper::createMagStatusMessage ( const SbgLogMag & ref_log_mag ) const

private

Create a SBG-ROS Magnetometer status message.

Parameters

[in] ref_log_mag SBG Magnetometer log.

Returns: Magnetometer status message.

Definition at line 164 of file message_wrapper.cpp.

const sensor_msgs::FluidPressure MessageWrapper::createRosFluidPressureMessage ( const sbg_driver::SbgAirData & ref_sbg_air_msg ) const

Create a ROS standard FluidPressure message.

Parameters

[in] ref_sbg_air_msg SBG-ROS AirData message.

Returns: ROS standard fluid pressure message.

Definition at line 803 of file message_wrapper.cpp.

const std_msgs::Header MessageWrapper::createRosHeader ( uint32_t device_timestamp ) const

private

Create a ROS message header.

Parameters

[in] device_timestamp SBG device timestamp (in microseconds).

Returns: ROS header message.

Definition at line 26 of file message_wrapper.cpp.

const sensor_msgs::Imu MessageWrapper::createRosImuMessage	(	const sbg_driver::SbgImuData &	ref_sbg_imu_msg,
		const sbg_driver::SbgEkfQuat &	ref_sbg_quat_msg
	)		const

Create a ROS standard IMU message from SBG messages.

Parameters

[in]	ref_sbg_imu_msg	SBG-ROS IMU message.
[in]	ref_sbg_quat_msg	SBG_ROS Quaternion message.

Returns: ROS standard IMU message.

Definition at line 643 of file message_wrapper.cpp.

const sensor_msgs::MagneticField MessageWrapper::createRosMagneticMessage ( const sbg_driver::SbgMag & ref_sbg_mag_msg ) const

Create a ROS standard MagneticField message from SBG message.

Parameters

[in] ref_sbg_mag_msg SBG-ROS Mag message.

Returns: ROS standard Mag message.

Definition at line 669 of file message_wrapper.cpp.

const sensor_msgs::NavSatFix MessageWrapper::createRosNavSatFixMessage ( const sbg_driver::SbgGpsPos & ref_sbg_gps_msg ) const

Create a ROS standard NavSatFix message from a Gps message.

Parameters

[in] ref_sbg_gps_msg SBG-ROS GPS position message.

Returns: ROS standard NavSatFix message.

Definition at line 762 of file message_wrapper.cpp.

const geometry_msgs::PointStamped MessageWrapper::createRosPointStampedMessage ( const sbg_driver::SbgEkfNav & ref_sbg_ekf_msg ) const

Create a ROS standard PointStamped message from SBG messages.

Parameters

[in] ref_sbg_ekf_msg SBG-ROS EkfNav message.

Returns: ROS standard PointStamped message (ECEF).

Definition at line 715 of file message_wrapper.cpp.

const sensor_msgs::Temperature MessageWrapper::createRosTemperatureMessage ( const sbg_driver::SbgImuData & ref_sbg_imu_msg ) const

Create a ROS standard Temperature message from SBG message.

Parameters

[in] ref_sbg_imu_msg SBG-ROS IMU message.

Returns: ROS standard Temperature message.

Definition at line 658 of file message_wrapper.cpp.

const geometry_msgs::TwistStamped MessageWrapper::createRosTwistStampedMessage	(	const sbg::SbgVector3f &	body_vel,
		const sbg_driver::SbgImuData &	ref_sbg_imu_msg
	)		const

private

Create a ROS standard TwistStamped message.

Parameters

[in]	body_vel	SBG Body velocity vector.
[in]	ref_sbg_air_data	SBG IMU message.

Returns: SBG TwistStamped message.

Definition at line 701 of file message_wrapper.cpp.

const geometry_msgs::TwistStamped MessageWrapper::createRosTwistStampedMessage	(	const sbg_driver::SbgEkfEuler &	ref_sbg_ekf_vel_msg,
		const sbg_driver::SbgEkfNav &	ref_sbg_ekf_nav_msg,
		const sbg_driver::SbgImuData &	ref_sbg_imu_msg
	)		const

Create a ROS standard TwistStamped message from SBG messages.

Parameters

[in]	ref_sbg_ekf_euler_msg	SBG-ROS Ekf Euler message.
[in]	ref_sbg_ekf_nav_msg	SBG-ROS Ekf Nav message.
[in]	ref_sbg_imu_msg	SBG-ROS IMU message.

Returns: ROS standard TwistStamped message.

Definition at line 679 of file message_wrapper.cpp.

const geometry_msgs::TwistStamped MessageWrapper::createRosTwistStampedMessage	(	const sbg_driver::SbgEkfQuat &	ref_sbg_ekf_vel_msg,
		const sbg_driver::SbgEkfNav &	ref_sbg_ekf_nav_msg,
		const sbg_driver::SbgImuData &	ref_sbg_imu_msg
	)		const

Create a ROS standard TwistStamped message from SBG messages.

Parameters

[in]	ref_sbg_ekf_quat_msg	SBG-ROS Ekf Quaternion message.
[in]	ref_sbg_ekf_nav_msg	SBG-ROS Ekf Nav message.
[in]	ref_sbg_imu_msg	SBG-ROS IMU message.

Returns: ROS standard TwistStamped message.

Definition at line 690 of file message_wrapper.cpp.

const sensor_msgs::TimeReference MessageWrapper::createRosUtcTimeReferenceMessage ( const sbg_driver::SbgUtcTime & ref_sbg_utc_msg ) const

Create a ROS standard timeReference message for a UTC time.

Parameters

[in] ref_sbg_utc_msg SBG-ROS UTC message.

Returns: ROS standard timeReference message.

Definition at line 747 of file message_wrapper.cpp.

const sbg_driver::SbgAirData MessageWrapper::createSbgAirDataMessage ( const SbgLogAirData & ref_air_data_log ) const

Create a SBG-ROS Air data message from a SBG log.

Parameters

[in] ref_air_data_log SBG AirData log.

Returns: SBG-ROS airData message.

Definition at line 613 of file message_wrapper.cpp.

const sbg_driver::SbgEkfEuler MessageWrapper::createSbgEkfEulerMessage ( const SbgLogEkfEulerData & ref_log_ekf_euler ) const

Create a SBG-ROS Ekf Euler message.

Parameters

[in] ref_log_ekf_euler SBG Ekf Euler log.

Returns: Ekf Euler message.

Definition at line 365 of file message_wrapper.cpp.

const sbg_driver::SbgEkfNav MessageWrapper::createSbgEkfNavMessage ( const SbgLogEkfNavData & ref_log_ekf_nav ) const

Create a SBG-ROS Ekf Navigation message.

Parameters

[in] ref_log_ekf_nav SBG Ekf Navigation log.

Returns: Ekf Navigation message.

Definition at line 378 of file message_wrapper.cpp.

const sbg_driver::SbgEkfQuat MessageWrapper::createSbgEkfQuatMessage ( const SbgLogEkfQuatData & ref_log_ekf_quat ) const

Create a SBG-ROS Ekf Quaternion message.

Parameters

[in] ref_log_ekf_quat SBG Ekf Quaternion log.

Returns: Ekf Quaternion message.

Definition at line 394 of file message_wrapper.cpp.

const sbg_driver::SbgEvent MessageWrapper::createSbgEventMessage ( const SbgLogEvent & ref_log_event ) const

Create a SBG-ROS event message.

Parameters

[in] ref_log_event SBG event log.

Returns: Event message.

Definition at line 410 of file message_wrapper.cpp.

const sbg_driver::SbgGpsHdt MessageWrapper::createSbgGpsHdtMessage ( const SbgLogGpsHdt & ref_log_gps_hdt ) const

Create SBG-ROS GPS-HDT message.

Parameters

[in] ref_log_gps_hdt SBG GPS HDT log.

Returns: GPS HDT message.

Definition at line 431 of file message_wrapper.cpp.

const sbg_driver::SbgGpsPos MessageWrapper::createSbgGpsPosMessage ( const SbgLogGpsPos & ref_log_gps_pos ) const

Create a SBG-ROS GPS-Position message.

Parameters

[in] ref_log_gps_pos SBG GPS Position log.

Returns: GPS Position message.

Definition at line 448 of file message_wrapper.cpp.

const sbg_driver::SbgGpsRaw MessageWrapper::createSbgGpsRawMessage ( const SbgLogGpsRaw & ref_log_gps_raw ) const

Create a SBG-ROS GPS raw message.

Parameters

[in] ref_log_gps_raw SBG GPS raw log.

Returns: GPS raw message.

Definition at line 471 of file message_wrapper.cpp.

const sbg_driver::SbgGpsVel MessageWrapper::createSbgGpsVelMessage ( const SbgLogGpsVel & ref_log_gps_vel ) const

Create a SBG-ROS GPS Velocity message.

Parameters

[in] ref_log_gps_vel SBG GPS Velocity log.

Returns: GPS Velocity message.

Definition at line 480 of file message_wrapper.cpp.

const sbg_driver::SbgImuData MessageWrapper::createSbgImuDataMessage ( const SbgLogImuData & ref_log_imu_data ) const

Create a SBG-ROS Imu data message.

Parameters

[in] ref_log_imu_data SBG Imu data log.

Returns: Imu data message.

Definition at line 496 of file message_wrapper.cpp.

const sbg_driver::SbgImuShort MessageWrapper::createSbgImuShortMessage ( const SbgLogImuShort & ref_short_imu_log ) const

Create a SBG-ROS Short Imu message.

Parameters

[in] ref_short_imu_log SBG Imu short log.

Returns: SBG-ROS Imu short message.

Definition at line 629 of file message_wrapper.cpp.

const sbg_driver::SbgMagCalib MessageWrapper::createSbgMagCalibMessage ( const SbgLogMagCalib & ref_log_mag_calib ) const

Create a SBG-ROS Magnetometer calibration message.

Parameters

[in] ref_log_mag_calib SBG Magnetometer calibration log.

Returns: Magnetometer calibration message.

Definition at line 525 of file message_wrapper.cpp.

const sbg_driver::SbgMag MessageWrapper::createSbgMagMessage ( const SbgLogMag & ref_log_mag ) const

Create a SBG-ROS Magnetometer message.

Parameters

[in] ref_log_mag SBG Magnetometer log.

Returns: Magnetometer message.

Definition at line 512 of file message_wrapper.cpp.

const sbg_driver::SbgOdoVel MessageWrapper::createSbgOdoVelMessage ( const SbgLogOdometerData & ref_log_odo ) const

Create a SBG-ROS Odometer velocity message.

Parameters

[in] ref_log_odo SBG Odometer log.

Returns: Odometer message.

Definition at line 535 of file message_wrapper.cpp.

const sbg_driver::SbgShipMotion MessageWrapper::createSbgShipMotionMessage ( const SbgLogShipMotionData & ref_log_ship_motion ) const

Create a SBG-ROS Shipmotion message.

Parameters

[in] ref_log_ship_motion SBG Ship motion log.

Returns: Ship motion message.

Definition at line 548 of file message_wrapper.cpp.

const sbg_driver::SbgStatus MessageWrapper::createSbgStatusMessage ( const SbgLogStatusData & ref_log_status ) const

Create a SBG-ROS status message from a SBG status log.

Parameters

[in] ref_log_status SBG status log.

Returns: Status message.

Definition at line 562 of file message_wrapper.cpp.

const sbg_driver::SbgUtcTime MessageWrapper::createSbgUtcTimeMessage ( const SbgLogUtcData & ref_log_utc )

Create a SBG-ROS UTC time message from a SBG UTC log.

Parameters

[in] ref_log_utc SBG UTC log.

Returns: UTC time message.

Definition at line 576 of file message_wrapper.cpp.

const sbg_driver::SbgShipMotionStatus MessageWrapper::createShipMotionStatusMessage ( const SbgLogShipMotionData & ref_log_ship_motion ) const

private

Create a SBG-ROS Ship motion status message.

Parameters

[in] ref_log_ship_motion SBG Ship motion log.

Returns: ship motion status message.

Definition at line 181 of file message_wrapper.cpp.

const sbg_driver::SbgStatusAiding MessageWrapper::createStatusAidingMessage ( const SbgLogStatusData & ref_log_status ) const

private

Create a SBG-ROS aiding status message.

Parameters

[in] ref_log_status SBG status log.

Returns: Aiding status message.

Definition at line 193 of file message_wrapper.cpp.

const sbg_driver::SbgStatusCom MessageWrapper::createStatusComMessage ( const SbgLogStatusData & ref_log_status ) const

private

Create a SBG-ROS com status message.

Parameters

[in] ref_log_status SBG status log.

Returns: Com status message.

Definition at line 209 of file message_wrapper.cpp.

const sbg_driver::SbgStatusGeneral MessageWrapper::createStatusGeneralMessage ( const SbgLogStatusData & ref_log_status ) const

private

Create a SBG-ROS general status message.

Parameters

[in] ref_log_status SBG status log.

Returns: General status message.

Definition at line 237 of file message_wrapper.cpp.

const sbg_driver::SbgUtcTimeStatus MessageWrapper::createUtcStatusMessage ( const SbgLogUtcData & ref_log_utc ) const

private

Create a SBG-ROS UTC time status message.

Parameters

[in] ref_log_utc SBG UTC data log.

Returns: UTC time status message.

Definition at line 250 of file message_wrapper.cpp.

uint32_t MessageWrapper::getNumberOfDaysInMonth	(	uint16_t	year,
		uint8_t	month_index
	)		const

private

Get the number of days of the month index.

Parameters

[in]	year	Year.
[in]	month_index	Month index [1..12].

Returns: Number of days in the month.

Definition at line 275 of file message_wrapper.cpp.

uint32_t MessageWrapper::getNumberOfDaysInYear ( uint16_t year ) const

private

Get the number of days in the year.

Parameters

[in] year Year to get the number of days.

Returns: Number of days in the year.

Definition at line 263 of file message_wrapper.cpp.

bool MessageWrapper::isLeapYear ( uint16_t year ) const

private

Check if the given year is a leap year.

Parameters

[in] year Year to check.

Returns: True if the year is a leap year.

Definition at line 298 of file message_wrapper.cpp.

void MessageWrapper::setRosProcessingTime ( const ros::Time & ref_ros_time )

Set the wrapper processing ROS time. This method is call on the SbgDevice periodic handle, in order to have the same processing time for the messages.

Parameters

[in] ref_ros_time ROS processing time to set.

Definition at line 356 of file message_wrapper.cpp.

Member Data Documentation

bool sbg::MessageWrapper::m_first_valid_utc_

private

Definition at line 85 of file message_wrapper.h.

sbg_driver::SbgUtcTime sbg::MessageWrapper::m_last_sbg_utc_

private

Definition at line 84 of file message_wrapper.h.

ros::Time sbg::MessageWrapper::m_ros_processing_time_

private

Definition at line 83 of file message_wrapper.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