Public Attributes | List of all members
Settings Struct Reference

Settings struct. More...

#include <settings.h>

Public Attributes

bool activate_debug_log
 Set logger level to DEBUG. More...
 
std::string ant_aux1_serial_nr
 Serial number of your particular Aux1 antenna. More...
 
std::string ant_aux1_type
 
double ant_lever_x
 INS antenna lever arm x-offset. More...
 
double ant_lever_y
 INS antenna lever arm y-offset. More...
 
double ant_lever_z
 INS antenna lever arm z-offset. More...
 
std::string ant_serial_nr
 Serial number of your particular Main antenna. More...
 
std::string ant_type
 
float att_std_dev
 Attitude deviation mask. More...
 
std::string aux1_frame_id
 The frame ID of the aux1 antenna. More...
 
uint32_t baudrate
 Baudrate. More...
 
std::string datum
 Datum to be used. More...
 
float delta_e
 Marker-to-ARP offset in the eastward direction. More...
 
float delta_n
 Marker-to-ARP offset in the northward direction. More...
 
float delta_u
 Marker-to-ARP offset in the upward direction. More...
 
std::string device
 Device port. More...
 
std::string frame_id
 The frame ID used in the header of every published ROS message. More...
 
double heading_offset
 Attitude offset determination in longitudinal direction. More...
 
std::string hw_flow_control
 HW flow control. More...
 
std::string imu_frame_id
 The frame ID used in the header of published ROS Imu message. More...
 
bool ins_in_gnss_mode = false
 Handle the case when an INS is used in GNSS mode. More...
 
std::string ins_initial_heading
 For heading computation when unit is powered-cycled. More...
 
bool ins_use_poi
 INS solution reference point. More...
 
std::string ins_vsm_ip_server_id
 VSM IP server id. More...
 
bool ins_vsm_ip_server_keep_open
 Wether VSM shall be kept open om shutdown. More...
 
uint32_t ins_vsm_ip_server_port
 VSM tcp port. More...
 
std::vector< bool > ins_vsm_ros_config = {false, false, false}
 Whether or not to use individual elements of 3D velocity (v_x, v_y, v_z) More...
 
std::string ins_vsm_ros_source
 VSM source for INS. More...
 
std::vector< double > ins_vsm_ros_variances = {-1.0, -1.0, -1.0}
 Variances of the 3D velocity (var_x, var_y, var_z) More...
 
bool ins_vsm_ros_variances_by_parameter = false
 Whether or not to use variance defined by ROS parameter. More...
 
uint32_t ins_vsm_serial_baud_rate
 VSM serial baud rate. More...
 
bool ins_vsm_serial_keep_open
 Wether VSM shall be kept open om shutdown. More...
 
std::string ins_vsm_serial_port
 VSM serial port. More...
 
bool insert_local_frame = false
 Wether local frame should be inserted into tf. More...
 
int32_t leap_seconds
 The number of leap seconds that have been inserted into the UTC time. More...
 
std::string local_frame_id
 Frame id of the local frame to be inserted. More...
 
bool lock_utm_zone
 Wether the UTM zone of the localization is locked. More...
 
std::string login_password
 Password for login. More...
 
std::string login_user
 Username for login. More...
 
bool multi_antenna
 INS multiantenna. More...
 
double pitch_offset
 Attitude offset determination in latitudinal direction. More...
 
std::string poi_frame_id
 
double poi_x
 INS POI offset in x-dimension. More...
 
double poi_y
 INS POI offset in y-dimension. More...
 
double poi_z
 INS POI offset in z-dimension. More...
 
uint32_t polling_period_pvt
 Polling period for PVT-related SBF blocks. More...
 
uint32_t polling_period_rest
 Polling period for all other SBF blocks and NMEA messages. More...
 
float pos_std_dev
 Position deviation mask. More...
 
bool publish_attcoveuler
 Whether or not to publish the AttCovEulerMsg message. More...
 
bool publish_atteuler
 Whether or not to publish the AttEulerMsg message. More...
 
bool publish_basevectorcart
 
bool publish_basevectorgeod
 Whether or not to publish the BaseVectorGeodMsg message. More...
 
bool publish_diagnostics
 Whether or not to publish the DiagnosticArrayMsg message. More...
 
bool publish_exteventinsnavcart
 Whether or not to publish the ExtEventINSNavCartMsg message. More...
 
bool publish_exteventinsnavgeod
 Whether or not to publish the ExtEventINSNavGeodMsg message. More...
 
bool publish_extsensormeas
 Whether or not to publish the ExtSensorMeasMsg message. More...
 
bool publish_gpgga
 Whether or not to publish the GGA message. More...
 
bool publish_gpgsa
 Whether or not to publish the GSA message. More...
 
bool publish_gpgsv
 Whether or not to publish the GSV message. More...
 
bool publish_gprmc
 Whether or not to publish the RMC message. More...
 
bool publish_gpsfix
 Whether or not to publish the GPSFixMsg message. More...
 
bool publish_gpst
 Whether or not to publish the TimeReferenceMsg message with GPST. More...
 
bool publish_imu
 Whether or not to publish the ImuMsg message. More...
 
bool publish_imusetup
 Whether or not to publish the IMUSetupMsg message. More...
 
bool publish_insnavcart
 Whether or not to publish the INSNavCartMsg message. More...
 
bool publish_insnavgeod
 Whether or not to publish the INSNavGeodMsg message. More...
 
bool publish_localization
 Whether or not to publish the LocalizationMsg message. More...
 
bool publish_measepoch
 Whether or not to publish the MeasEpoch message. More...
 
bool publish_navsatfix
 Whether or not to publish the NavSatFixMsg message. More...
 
bool publish_poscovcartesian
 
bool publish_poscovgeodetic
 
bool publish_pose
 Whether or not to publish the PoseWithCovarianceStampedMsg message. More...
 
bool publish_pvtcartesian
 
bool publish_pvtgeodetic
 Whether or not to publish the PVTGeodeticMsg message. More...
 
bool publish_tf
 Whether or not to publish the tf of the localization. More...
 
bool publish_twist
 Whether or not to publish the TwistWithCovarianceStampedMsg message. More...
 
bool publish_velcovgeodetic
 
bool publish_velsensorsetup
 Whether or not to publish the VelSensorSetupMsg message. More...
 
bool read_from_pcap = false
 Whether or not we are reading from a PCAP file. More...
 
bool read_from_sbf_log = false
 Whether or not we are reading from an SBF file. More...
 
float reconnect_delay_s
 
RtkSettings rtk_settings
 RTK corrections settings. More...
 
std::string rx_serial_port
 
std::string septentrio_receiver_type
 Septentrio receiver type, either "gnss" or "ins". More...
 
double theta_x
 IMU orientation x-angle. More...
 
double theta_y
 IMU orientation y-angle. More...
 
double theta_z
 IMU orientation z-angle. More...
 
bool use_gnss_time
 
bool use_ros_axis_orientation
 ROS axis orientation, body: front-left-up, geographic: ENU. More...
 
std::string vehicle_frame_id
 The frame ID of the vehicle frame. More...
 
std::string vsm_frame_id
 The frame ID of the velocity sensor. More...
 
double vsm_x
 INS velocity sensor lever arm x-offset. More...
 
double vsm_y
 INS velocity sensor lever arm y-offset. More...
 
double vsm_z
 INS velocity sensor lever arm z-offset. More...
 

Detailed Description

Settings struct.

Definition at line 103 of file settings.h.

Member Data Documentation

◆ activate_debug_log

bool Settings::activate_debug_log

Set logger level to DEBUG.

Definition at line 106 of file settings.h.

◆ ant_aux1_serial_nr

std::string Settings::ant_aux1_serial_nr

Serial number of your particular Aux1 antenna.

Definition at line 144 of file settings.h.

◆ ant_aux1_type

std::string Settings::ant_aux1_type

Aux1 antenna type, from the list returned by the command "lstAntennaInfo, Overview"

Definition at line 140 of file settings.h.

◆ ant_lever_x

double Settings::ant_lever_x

INS antenna lever arm x-offset.

Definition at line 154 of file settings.h.

◆ ant_lever_y

double Settings::ant_lever_y

INS antenna lever arm y-offset.

Definition at line 156 of file settings.h.

◆ ant_lever_z

double Settings::ant_lever_z

INS antenna lever arm z-offset.

Definition at line 158 of file settings.h.

◆ ant_serial_nr

std::string Settings::ant_serial_nr

Serial number of your particular Main antenna.

Definition at line 142 of file settings.h.

◆ ant_type

std::string Settings::ant_type

Main antenna type, from the list returned by the command "lstAntennaInfo, Overview"

Definition at line 137 of file settings.h.

◆ att_std_dev

float Settings::att_std_dev

Attitude deviation mask.

Definition at line 182 of file settings.h.

◆ aux1_frame_id

std::string Settings::aux1_frame_id

The frame ID of the aux1 antenna.

Definition at line 274 of file settings.h.

◆ baudrate

uint32_t Settings::baudrate

Baudrate.

Definition at line 117 of file settings.h.

◆ datum

std::string Settings::datum

Datum to be used.

Definition at line 124 of file settings.h.

◆ delta_e

float Settings::delta_e

Marker-to-ARP offset in the eastward direction.

Definition at line 130 of file settings.h.

◆ delta_n

float Settings::delta_n

Marker-to-ARP offset in the northward direction.

Definition at line 132 of file settings.h.

◆ delta_u

float Settings::delta_u

Marker-to-ARP offset in the upward direction.

Definition at line 134 of file settings.h.

◆ device

std::string Settings::device

Device port.

Definition at line 108 of file settings.h.

◆ frame_id

std::string Settings::frame_id

The frame ID used in the header of every published ROS message.

Definition at line 265 of file settings.h.

◆ heading_offset

double Settings::heading_offset

Attitude offset determination in longitudinal direction.

Definition at line 172 of file settings.h.

◆ hw_flow_control

std::string Settings::hw_flow_control

HW flow control.

Definition at line 119 of file settings.h.

◆ imu_frame_id

std::string Settings::imu_frame_id

The frame ID used in the header of published ROS Imu message.

Definition at line 267 of file settings.h.

◆ ins_in_gnss_mode

bool Settings::ins_in_gnss_mode = false

Handle the case when an INS is used in GNSS mode.

Definition at line 259 of file settings.h.

◆ ins_initial_heading

std::string Settings::ins_initial_heading

For heading computation when unit is powered-cycled.

Definition at line 180 of file settings.h.

◆ ins_use_poi

bool Settings::ins_use_poi

INS solution reference point.

Definition at line 178 of file settings.h.

◆ ins_vsm_ip_server_id

std::string Settings::ins_vsm_ip_server_id

VSM IP server id.

Definition at line 294 of file settings.h.

◆ ins_vsm_ip_server_keep_open

bool Settings::ins_vsm_ip_server_keep_open

Wether VSM shall be kept open om shutdown.

Definition at line 298 of file settings.h.

◆ ins_vsm_ip_server_port

uint32_t Settings::ins_vsm_ip_server_port

VSM tcp port.

Definition at line 296 of file settings.h.

◆ ins_vsm_ros_config

std::vector<bool> Settings::ins_vsm_ros_config = {false, false, false}

Whether or not to use individual elements of 3D velocity (v_x, v_y, v_z)

Definition at line 288 of file settings.h.

◆ ins_vsm_ros_source

std::string Settings::ins_vsm_ros_source

VSM source for INS.

Definition at line 286 of file settings.h.

◆ ins_vsm_ros_variances

std::vector<double> Settings::ins_vsm_ros_variances = {-1.0, -1.0, -1.0}

Variances of the 3D velocity (var_x, var_y, var_z)

Definition at line 292 of file settings.h.

◆ ins_vsm_ros_variances_by_parameter

bool Settings::ins_vsm_ros_variances_by_parameter = false

Whether or not to use variance defined by ROS parameter.

Definition at line 290 of file settings.h.

◆ ins_vsm_serial_baud_rate

uint32_t Settings::ins_vsm_serial_baud_rate

VSM serial baud rate.

Definition at line 302 of file settings.h.

◆ ins_vsm_serial_keep_open

bool Settings::ins_vsm_serial_keep_open

Wether VSM shall be kept open om shutdown.

Definition at line 304 of file settings.h.

◆ ins_vsm_serial_port

std::string Settings::ins_vsm_serial_port

VSM serial port.

Definition at line 300 of file settings.h.

◆ insert_local_frame

bool Settings::insert_local_frame = false

Wether local frame should be inserted into tf.

Definition at line 253 of file settings.h.

◆ leap_seconds

int32_t Settings::leap_seconds

The number of leap seconds that have been inserted into the UTC time.

Definition at line 280 of file settings.h.

◆ local_frame_id

std::string Settings::local_frame_id

Frame id of the local frame to be inserted.

Definition at line 255 of file settings.h.

◆ lock_utm_zone

bool Settings::lock_utm_zone

Wether the UTM zone of the localization is locked.

Definition at line 278 of file settings.h.

◆ login_password

std::string Settings::login_password

Password for login.

Definition at line 112 of file settings.h.

◆ login_user

std::string Settings::login_user

Username for login.

Definition at line 110 of file settings.h.

◆ multi_antenna

bool Settings::multi_antenna

INS multiantenna.

Definition at line 176 of file settings.h.

◆ pitch_offset

double Settings::pitch_offset

Attitude offset determination in latitudinal direction.

Definition at line 174 of file settings.h.

◆ poi_frame_id

std::string Settings::poi_frame_id

The frame ID used in the header of published ROS Localization message if poi is used

Definition at line 270 of file settings.h.

◆ poi_x

double Settings::poi_x

INS POI offset in x-dimension.

Definition at line 160 of file settings.h.

◆ poi_y

double Settings::poi_y

INS POI offset in y-dimension.

Definition at line 162 of file settings.h.

◆ poi_z

double Settings::poi_z

INS POI offset in z-dimension.

Definition at line 164 of file settings.h.

◆ polling_period_pvt

uint32_t Settings::polling_period_pvt

Polling period for PVT-related SBF blocks.

Definition at line 126 of file settings.h.

◆ polling_period_rest

uint32_t Settings::polling_period_rest

Polling period for all other SBF blocks and NMEA messages.

Definition at line 128 of file settings.h.

◆ pos_std_dev

float Settings::pos_std_dev

Position deviation mask.

Definition at line 184 of file settings.h.

◆ publish_attcoveuler

bool Settings::publish_attcoveuler

Whether or not to publish the AttCovEulerMsg message.

Definition at line 219 of file settings.h.

◆ publish_atteuler

bool Settings::publish_atteuler

Whether or not to publish the AttEulerMsg message.

Definition at line 217 of file settings.h.

◆ publish_basevectorcart

bool Settings::publish_basevectorcart

Whether or not to publish the BaseVectorCartMsg message

Definition at line 204 of file settings.h.

◆ publish_basevectorgeod

bool Settings::publish_basevectorgeod

Whether or not to publish the BaseVectorGeodMsg message.

Definition at line 206 of file settings.h.

◆ publish_diagnostics

bool Settings::publish_diagnostics

Whether or not to publish the DiagnosticArrayMsg message.

Definition at line 243 of file settings.h.

◆ publish_exteventinsnavcart

bool Settings::publish_exteventinsnavcart

Whether or not to publish the ExtEventINSNavCartMsg message.

Definition at line 231 of file settings.h.

◆ publish_exteventinsnavgeod

bool Settings::publish_exteventinsnavgeod

Whether or not to publish the ExtEventINSNavGeodMsg message.

Definition at line 229 of file settings.h.

◆ publish_extsensormeas

bool Settings::publish_extsensormeas

Whether or not to publish the ExtSensorMeasMsg message.

Definition at line 233 of file settings.h.

◆ publish_gpgga

bool Settings::publish_gpgga

Whether or not to publish the GGA message.

Definition at line 188 of file settings.h.

◆ publish_gpgsa

bool Settings::publish_gpgsa

Whether or not to publish the GSA message.

Definition at line 192 of file settings.h.

◆ publish_gpgsv

bool Settings::publish_gpgsv

Whether or not to publish the GSV message.

Definition at line 194 of file settings.h.

◆ publish_gprmc

bool Settings::publish_gprmc

Whether or not to publish the RMC message.

Definition at line 190 of file settings.h.

◆ publish_gpsfix

bool Settings::publish_gpsfix

Whether or not to publish the GPSFixMsg message.

Definition at line 239 of file settings.h.

◆ publish_gpst

bool Settings::publish_gpst

Whether or not to publish the TimeReferenceMsg message with GPST.

Definition at line 235 of file settings.h.

◆ publish_imu

bool Settings::publish_imu

Whether or not to publish the ImuMsg message.

Definition at line 245 of file settings.h.

◆ publish_imusetup

bool Settings::publish_imusetup

Whether or not to publish the IMUSetupMsg message.

Definition at line 225 of file settings.h.

◆ publish_insnavcart

bool Settings::publish_insnavcart

Whether or not to publish the INSNavCartMsg message.

Definition at line 221 of file settings.h.

◆ publish_insnavgeod

bool Settings::publish_insnavgeod

Whether or not to publish the INSNavGeodMsg message.

Definition at line 223 of file settings.h.

◆ publish_localization

bool Settings::publish_localization

Whether or not to publish the LocalizationMsg message.

Definition at line 247 of file settings.h.

◆ publish_measepoch

bool Settings::publish_measepoch

Whether or not to publish the MeasEpoch message.

Definition at line 196 of file settings.h.

◆ publish_navsatfix

bool Settings::publish_navsatfix

Whether or not to publish the NavSatFixMsg message.

Definition at line 237 of file settings.h.

◆ publish_poscovcartesian

bool Settings::publish_poscovcartesian

Whether or not to publish the PosCovCartesianMsg message

Definition at line 209 of file settings.h.

◆ publish_poscovgeodetic

bool Settings::publish_poscovgeodetic

Whether or not to publish the PosCovGeodeticMsg message

Definition at line 212 of file settings.h.

◆ publish_pose

bool Settings::publish_pose

Whether or not to publish the PoseWithCovarianceStampedMsg message.

Definition at line 241 of file settings.h.

◆ publish_pvtcartesian

bool Settings::publish_pvtcartesian

Whether or not to publish the PVTCartesianMsg message

Definition at line 199 of file settings.h.

◆ publish_pvtgeodetic

bool Settings::publish_pvtgeodetic

Whether or not to publish the PVTGeodeticMsg message.

Definition at line 201 of file settings.h.

◆ publish_tf

bool Settings::publish_tf

Whether or not to publish the tf of the localization.

Definition at line 251 of file settings.h.

◆ publish_twist

bool Settings::publish_twist

Whether or not to publish the TwistWithCovarianceStampedMsg message.

Definition at line 249 of file settings.h.

◆ publish_velcovgeodetic

bool Settings::publish_velcovgeodetic

Whether or not to publish the VelCovGeodeticMsg message

Definition at line 215 of file settings.h.

◆ publish_velsensorsetup

bool Settings::publish_velsensorsetup

Whether or not to publish the VelSensorSetupMsg message.

Definition at line 227 of file settings.h.

◆ read_from_pcap

bool Settings::read_from_pcap = false

Whether or not we are reading from a PCAP file.

Definition at line 284 of file settings.h.

◆ read_from_sbf_log

bool Settings::read_from_sbf_log = false

Whether or not we are reading from an SBF file.

Definition at line 282 of file settings.h.

◆ reconnect_delay_s

float Settings::reconnect_delay_s

Delay in seconds between reconnection attempts to the connection type specified in the parameter connection_type

Definition at line 115 of file settings.h.

◆ rtk_settings

RtkSettings Settings::rtk_settings

RTK corrections settings.

Definition at line 186 of file settings.h.

◆ rx_serial_port

std::string Settings::rx_serial_port

In case of serial communication to Rx, rx_serial_port specifies Rx's serial port connected to, e.g. USB1 or COM1

Definition at line 122 of file settings.h.

◆ septentrio_receiver_type

std::string Settings::septentrio_receiver_type

Septentrio receiver type, either "gnss" or "ins".

Definition at line 257 of file settings.h.

◆ theta_x

double Settings::theta_x

IMU orientation x-angle.

Definition at line 148 of file settings.h.

◆ theta_y

double Settings::theta_y

IMU orientation y-angle.

Definition at line 150 of file settings.h.

◆ theta_z

double Settings::theta_z

IMU orientation z-angle.

Definition at line 152 of file settings.h.

◆ use_gnss_time

bool Settings::use_gnss_time

If true, the ROS message headers' unix time field is constructed from the TOW (in the SBF case) and UTC (in the NMEA case) data. If false, times are constructed within the driver via time(NULL) of the <ctime> library.

Definition at line 263 of file settings.h.

◆ use_ros_axis_orientation

bool Settings::use_ros_axis_orientation

ROS axis orientation, body: front-left-up, geographic: ENU.

Definition at line 146 of file settings.h.

◆ vehicle_frame_id

std::string Settings::vehicle_frame_id

The frame ID of the vehicle frame.

Definition at line 276 of file settings.h.

◆ vsm_frame_id

std::string Settings::vsm_frame_id

The frame ID of the velocity sensor.

Definition at line 272 of file settings.h.

◆ vsm_x

double Settings::vsm_x

INS velocity sensor lever arm x-offset.

Definition at line 166 of file settings.h.

◆ vsm_y

double Settings::vsm_y

INS velocity sensor lever arm y-offset.

Definition at line 168 of file settings.h.

◆ vsm_z

double Settings::vsm_z

INS velocity sensor lever arm z-offset.

Definition at line 170 of file settings.h.


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


septentrio_gnss_driver
Author(s): Tibor Dome
autogenerated on Thu Nov 10 2022 04:02:01