mtiG Class Reference

ROS driver for Xsens mti-G-700. More...

#include <mtiG.h>

List of all members.

Public Member Functions
void	advertise ()
	Uses mSettings to advertise corresponding ROS Messages.
void	configure ()
	Creates an XsOutputConfigurationArray and pushes it to the sensor.
void	fillData (XsDataPacket *)
	Initiates data extraction from packet obtained from the device.
	mtiG (XsDevice *_device)
	Simplified constructor.
	mtiG (XsDevice *_device, int argc, char **argv)
	Initializes data values and configures the sensor with desired modules.
void	publish ()
	Uses mSettings and the MessageMaker class to publish corresponding ROS Messages.
void	readSettings ()
	Pulls the active configuration from the device.
Private Member Functions
void	parseOptions (int argc, char **argv)
	Parses the parameters from the launchfile.
void	printSettings ()
	Prints the active settings.
Private Attributes
XsDevice *	device
ros::Publisher	gpsInfoPublisher
ros::Publisher	gpsPublisher
ros::Publisher	gpsVelPublisher
ros::Publisher	imuPublisher
ros::Publisher	magFieldPub
MessageMaker *	messageMaker
outputSettings	mSettings
int	override_settings
ros::Publisher	pressurePublisher
ros::Publisher	rpyPublisher
SensorData	sensorData
ros::Publisher	tempPublisher
ros::Publisher	velPublisher

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Detailed Description

ROS driver for Xsens mti-G-700.

This class is the main part of a driver for Xsens mti-G-700. It reads packets from the device using the Xsens API - see disclosure below. It stores the data in another class, named SensorData and uses MessageMaker to publish this data in ROS topics.

Author:

Lucas Casanova Nogueira (lucas_afonso@hotmail.com)

Date:

2014

Definition at line 30 of file mtiG.h.

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Constructor & Destructor Documentation

mtiG::mtiG

(

XsDevice *

_device

)

Simplified constructor.

Parameters:

_device

- XsDevice from Xsens API

Definition at line 61 of file mtiG.cpp.

mtiG::mtiG	(	XsDevice *	_device,
		int	argc,
		char **	argv
	)

Initializes data values and configures the sensor with desired modules.

Parameters:

_device

XsDevice from Xsens API

Definition at line 36 of file mtiG.cpp.

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Member Function Documentation

void mtiG::advertise

(

)

Uses mSettings to advertise corresponding ROS Messages.

One message is published for each of the modules that are activated in mSettings

Definition at line 289 of file mtiG.cpp.

void mtiG::configure

(

)

Creates an XsOutputConfigurationArray and pushes it to the sensor.

• Configures the sensor with desired modules
• Refer to xsdataidentifier.h

Definition at line 211 of file mtiG.cpp.

void mtiG::fillData

(

XsDataPacket *

packet

)

Initiates data extraction from packet obtained from the device.

Parameters:

packet

- XsDataPacket from the Xsens API

Definition at line 352 of file mtiG.cpp.

void mtiG::parseOptions	(	int	argc,
		char **	argv
	)		[private]

Parses the parameters from the launchfile.

• Enables individual data packets.
• Sets the frequency of each module.

Definition at line 72 of file mtiG.cpp.

void mtiG::printSettings

(

)

[private]

Prints the active settings.

Reads the settings currently stored in the device and prints it in ROS debug stream.

Definition at line 101 of file mtiG.cpp.

void mtiG::publish

(

)

Uses mSettings and the MessageMaker class to publish corresponding ROS Messages.

Parameters:

packet

- XsDataPacket from the Xsens API

Definition at line 322 of file mtiG.cpp.

void mtiG::readSettings

(

)

Pulls the active configuration from the device.

Fills mSettings from XsOutputConfigurationArray, the current active settings in the Xsens.

Definition at line 138 of file mtiG.cpp.

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Member Data Documentation

XsDevice* mtiG::device [private]

Definition at line 34 of file mtiG.h.

ros::Publisher mtiG::gpsInfoPublisher [private]

Definition at line 49 of file mtiG.h.

ros::Publisher mtiG::gpsPublisher [private]

Definition at line 43 of file mtiG.h.

ros::Publisher mtiG::gpsVelPublisher [private]

Definition at line 45 of file mtiG.h.

ros::Publisher mtiG::imuPublisher [private]

Definition at line 42 of file mtiG.h.

ros::Publisher mtiG::magFieldPub [private]

Definition at line 47 of file mtiG.h.

MessageMaker* mtiG::messageMaker [private]

Definition at line 35 of file mtiG.h.

outputSettings mtiG::mSettings [private]

Definition at line 37 of file mtiG.h.

int mtiG::override_settings [private]

Definition at line 32 of file mtiG.h.

ros::Publisher mtiG::pressurePublisher [private]

Definition at line 48 of file mtiG.h.

ros::Publisher mtiG::rpyPublisher [private]

Definition at line 50 of file mtiG.h.

SensorData mtiG::sensorData [private]

Definition at line 36 of file mtiG.h.

ros::Publisher mtiG::tempPublisher [private]

Definition at line 46 of file mtiG.h.

ros::Publisher mtiG::velPublisher [private]

Definition at line 44 of file mtiG.h.

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

• mtiG.h
• mtiG.cpp