Public Member Functions | Private Member Functions | Private Attributes | List of all members
mavros::std_plugins::GlobalPositionPlugin Class Reference

Global position plugin. More...

Inheritance diagram for mavros::std_plugins::GlobalPositionPlugin:
Inheritance graph

Public Member Functions

Subscriptions get_subscriptions ()
 Return vector of MAVLink message subscriptions (handlers) More...
void initialize (UAS &uas_)
 Plugin initializer. More...
- Public Member Functions inherited from mavros::plugin::PluginBase
virtual ~PluginBase ()

Private Member Functions

template<typename MsgT >
void fill_lla (MsgT &msg, sensor_msgs::NavSatFix::Ptr fix)
void fill_unknown_cov (sensor_msgs::NavSatFix::Ptr fix)
void gps_diag_run (diagnostic_updater::DiagnosticStatusWrapper &stat)
void handle_global_position_int (const mavlink::mavlink_message_t *msg, mavlink::common::msg::GLOBAL_POSITION_INT &gpos)
void handle_gps_global_origin (const mavlink::mavlink_message_t *msg, mavlink::common::msg::GPS_GLOBAL_ORIGIN &glob_orig)
void handle_gps_raw_int (const mavlink::mavlink_message_t *msg, mavlink::common::msg::GPS_RAW_INT &raw_gps)
void handle_lpned_system_global_offset (const mavlink::mavlink_message_t *msg, mavlink::common::msg::LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET &offset)
void home_position_cb (const mavros_msgs::HomePosition::ConstPtr &req)
void set_gp_origin_cb (const geographic_msgs::GeoPointStamped::ConstPtr &req)

Private Attributes

std::string child_frame_id
 body-fixed frame for topic headers More...
Eigen::Vector3d ecef_origin {}
 geocentric origin of map frame [m] More...
std::string frame_id
 origin frame for topic headers More...
ros::Publisher gp_fix_pub
ros::Publisher gp_global_offset_pub
ros::Publisher gp_global_origin_pub
ros::Publisher gp_hdg_pub
ros::NodeHandle gp_nh
ros::Publisher gp_odom_pub
ros::Publisher gp_rel_alt_pub
ros::Subscriber gp_set_global_origin_sub
double gps_uere
ros::Subscriber hp_sub
bool is_map_init
Eigen::Vector3d local_ecef {}
 local ECEF coordinates on map frame [m] More...
Eigen::Vector3d map_origin {}
 geodetic origin of map frame [lla] More...
ros::Publisher raw_fix_pub
ros::Publisher raw_vel_pub
double rot_cov
std::string tf_child_frame_id
 frame for TF and Pose More...
std::string tf_frame_id
 origin for TF More...
std::string tf_global_frame_id
 global origin for TF More...
bool tf_send
bool use_relative_alt

Additional Inherited Members

- Public Types inherited from mavros::plugin::PluginBase
using ConstPtr = boost::shared_ptr< PluginBase const >
using HandlerCb = mavconn::MAVConnInterface::ReceivedCb
 generic message handler callback More...
using HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb >
 Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More...
using Ptr = boost::shared_ptr< PluginBase >
using Subscriptions = std::vector< HandlerInfo >
 Subscriptions vector. More...
- Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void connection_cb (bool connected)
void enable_connection_cb ()
template<class _C >
HandlerInfo make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
template<class _C , class _T >
HandlerInfo make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
 PluginBase ()
 Plugin constructor Should not do anything before initialize() More...
- Protected Attributes inherited from mavros::plugin::PluginBase

Detailed Description

Global position plugin.

Publishes global position. Conversion from GPS LLA to ECEF allows publishing local position to TF and PoseWithCovarianceStamped.

Definition at line 44 of file global_position.cpp.

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

Author(s): Vladimir Ermakov
autogenerated on Mon Jul 8 2019 03:20:11