Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
mavros::extra_plugins::FakeGPSPlugin Class Reference

Fake GPS plugin. More...

Inheritance diagram for mavros::extra_plugins::FakeGPSPlugin:
Inheritance graph

Public Member Functions

Subscriptions get_subscriptions ()
void initialize (UAS &uas_)
- Public Member Functions inherited from mavros::plugin::PluginBase
virtual ~PluginBase ()

Private Member Functions

void mocap_pose_cb (const geometry_msgs::PoseStamped::ConstPtr &req)
void mocap_tf_cb (const geometry_msgs::TransformStamped::ConstPtr &trans)
void send_fake_gps (const ros::Time &stamp, const Eigen::Vector3d &ecef_offset)
 Send fake GPS coordinates through HIL_GPS Mavlink msg. More...
void transform_cb (const geometry_msgs::TransformStamped &trans)
void vision_cb (const geometry_msgs::PoseStamped::ConstPtr &req)
- Private Member Functions inherited from mavros::plugin::TF2ListenerMixin< FakeGPSPlugin >
void tf2_start (const char *_thd_name, void(FakeGPSPlugin::*cbp)(const geometry_msgs::TransformStamped &))
void tf2_start (const char *_thd_name, message_filters::Subscriber< T > &topic_sub, void(FakeGPSPlugin::*cbp)(const geometry_msgs::TransformStamped &, const typename T::ConstPtr &))

Private Attributes

GeographicLib::Geocentric earth
Eigen::Vector3d ecef_origin
 geocentric origin [m] More...
double eph
double epv
GPS_FIX_TYPE fix_type
ros::NodeHandle fp_nh
ros::Rate gps_rate
ros::Time last_pos_time
ros::Time last_transform_stamp
Eigen::Vector3d map_origin
 geodetic origin [lla] More...
ros::Subscriber mocap_pose_sub
ros::Subscriber mocap_tf_sub
bool mocap_transform
 set use of mocap data (TransformStamped msg) More...
Eigen::Vector3d old_ecef
 previous geocentric position [m] More...
double old_stamp
 previous stamp [s] More...
int satellites_visible
std::string tf_child_frame_id
std::string tf_frame_id
bool tf_listen
 set use of TF Listener data More...
double tf_rate
bool use_mocap
 set use of mocap data (PoseStamped msg) More...
bool use_vision
 set use of vision data More...
ros::Subscriber vision_pose_sub
- Private Attributes inherited from mavros::plugin::TF2ListenerMixin< FakeGPSPlugin >
std::string tf_thd_name
std::thread tf_thread


class TF2ListenerMixin

Additional Inherited Members

- Public Types inherited from mavros::plugin::PluginBase
typedef boost::shared_ptr< PluginBase const > ConstPtr
typedef mavconn::MAVConnInterface::ReceivedCb HandlerCb
typedef std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCbHandlerInfo
typedef boost::shared_ptr< PluginBasePtr
typedef std::vector< HandlerInfoSubscriptions
- Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void connection_cb (bool connected)
void enable_connection_cb ()
HandlerInfo make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
HandlerInfo make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
 PluginBase ()
- Protected Attributes inherited from mavros::plugin::PluginBase

Detailed Description

Fake GPS plugin.

Sends fake GPS from local position estimation source data (motion capture, vision) to FCU - processed in HIL mode or out of it if parameter MAV_USEHILGPS is set on PX4 Pro Autopilot Firmware; Ardupilot Firmware already supports it without a flag set.

Definition at line 40 of file fake_gps.cpp.

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

Author(s): Vladimir Ermakov
autogenerated on Mon Jul 8 2019 03:20:18