gnsspublisher.h

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#ifndef GNSSPUBLISHER_H
#define GNSSPUBLISHER_H
 
#include "packetcallback.h"
#include <sensor_msgs/NavSatFix.h>
 
#define FIX_TYPE_2D_FIX (2)
#define FIX_TYPE_3D_FIX (3)
#define FIX_TYPE_GNSS_AND_DEAD_RECKONING (4)
 
struct GnssPublisher : public PacketCallback
{
    ros::Publisher pub;
    std::string frame_id = DEFAULT_FRAME_ID;
 
    GnssPublisher(ros::NodeHandle &node)
    {
        int pub_queue_size = 5;
        ros::param::get("~publisher_queue_size", pub_queue_size);
        pub = node.advertise<sensor_msgs::NavSatFix>("gnss", pub_queue_size);
        ros::param::get("~frame_id", frame_id);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsRawGnssPvtData())
        {
            sensor_msgs::NavSatFix msg;
 
            msg.header.stamp = timestamp;
            msg.header.frame_id = frame_id;
 
            XsRawGnssPvtData gnss = packet.rawGnssPvtData();
 
            msg.latitude = (double)gnss.m_lat * 1e-7;
            msg.longitude = (double)gnss.m_lon * 1e-7;
            msg.altitude = (double)gnss.m_height * 1e-3;
            // Position covariance [m^2], ENU
            double sh = ((double)gnss.m_hAcc * 1e-3);
            double sv = ((double)gnss.m_vAcc * 1e-3);
            msg.position_covariance = {sh * sh, 0, 0, 0, sh * sh, 0, 0, 0, sv * sv};
            msg.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;
 
            switch (gnss.m_fixType)
            {
            case FIX_TYPE_2D_FIX: // fall through
            case FIX_TYPE_3D_FIX: // fall through
            case FIX_TYPE_GNSS_AND_DEAD_RECKONING:
                msg.status.status = sensor_msgs::NavSatStatus::STATUS_FIX;
                break;
            default:
                msg.status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX;
            }
            msg.status.service = 0; // unknown
 
            pub.publish(msg);
        }
    }
};
 
#endif