Implements functions for High Precision GNSS Rover devices. More...

#include <node.h>

Inheritance diagram for ublox_node::HpgRovProduct:

Public Member Functions
bool	configureUblox ()
	Configure rover settings. More...

void	getRosParams ()
	Get the ROS parameters specific to the Rover configuration. More...

void	initializeRosDiagnostics ()
	Add diagnostic updaters for rover GNSS status, including status of RTCM messages. More...

void	subscribe ()
	Subscribe to Rover messages, such as NavRELPOSNED. More...

Static Public Attributes
static constexpr double	kRtcmFreqMax = 10
	Diagnostic updater: RTCM topic frequency max [Hz]. More...

static constexpr double	kRtcmFreqMin = 1
	Diagnostic updater: RTCM topic frequency min [Hz]. More...

static constexpr double	kRtcmFreqTol = 0.1
	Diagnostic updater: RTCM topic frequency tolerance [%]. More...

static constexpr int	kRtcmFreqWindow = 25
	Diagnostic updater: RTCM topic frequency window [num messages]. More...

Protected Member Functions
void	callbackNavRelPosNed (const ublox_msgs::NavRELPOSNED &m)
	Set the last received message and call rover diagnostic updater. More...

void	carrierPhaseDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Update the rover diagnostics, including the carrier phase solution status (float or fixed). More...

Protected Attributes
uint8_t	dgnss_mode_
	The DGNSS mode. More...

UbloxTopicDiagnostic	freq_rtcm_
	The RTCM topic frequency diagnostic updater. More...

ublox_msgs::NavRELPOSNED	last_rel_pos_
	Last relative position (used for diagnostic updater) More...

Detailed Description

Implements functions for High Precision GNSS Rover devices.

Definition at line 1269 of file node.h.

Member Function Documentation

void HpgRovProduct::callbackNavRelPosNed ( const ublox_msgs::NavRELPOSNED & m )

protected

Set the last received message and call rover diagnostic updater.

Publish received NavRELPOSNED messages if enabled

Definition at line 1669 of file node.cpp.

void HpgRovProduct::carrierPhaseDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

protected

Update the rover diagnostics, including the carrier phase solution status (float or fixed).

Definition at line 1635 of file node.cpp.

bool HpgRovProduct::configureUblox ( )

virtual

Configure rover settings.

Configure the DGNSS mode.

Returns: true if configured correctly, false otherwise

Implements ublox_node::ComponentInterface.

Definition at line 1611 of file node.cpp.

void HpgRovProduct::getRosParams ( )

virtual

Get the ROS parameters specific to the Rover configuration.

Get the DGNSS mode.

Implements ublox_node::ComponentInterface.

Definition at line 1605 of file node.cpp.

void HpgRovProduct::initializeRosDiagnostics ( )

virtual

Add diagnostic updaters for rover GNSS status, including status of RTCM messages.

Implements ublox_node::ComponentInterface.

Definition at line 1626 of file node.cpp.

void HpgRovProduct::subscribe ( )

virtual

Subscribe to Rover messages, such as NavRELPOSNED.

Implements ublox_node::ComponentInterface.

Definition at line 1618 of file node.cpp.

Member Data Documentation

uint8_t ublox_node::HpgRovProduct::dgnss_mode_

protected

The DGNSS mode.

see CfgDGNSS message for possible values

Definition at line 1327 of file node.h.

UbloxTopicDiagnostic ublox_node::HpgRovProduct::freq_rtcm_

protected

The RTCM topic frequency diagnostic updater.

Definition at line 1330 of file node.h.

constexpr double ublox_node::HpgRovProduct::kRtcmFreqMax = 10

static

Diagnostic updater: RTCM topic frequency max [Hz].

Definition at line 1275 of file node.h.

constexpr double ublox_node::HpgRovProduct::kRtcmFreqMin = 1

static

Diagnostic updater: RTCM topic frequency min [Hz].

Definition at line 1273 of file node.h.

constexpr double ublox_node::HpgRovProduct::kRtcmFreqTol = 0.1

static

Diagnostic updater: RTCM topic frequency tolerance [%].

Definition at line 1277 of file node.h.

constexpr int ublox_node::HpgRovProduct::kRtcmFreqWindow = 25

static

Diagnostic updater: RTCM topic frequency window [num messages].

Definition at line 1279 of file node.h.

ublox_msgs::NavRELPOSNED ublox_node::HpgRovProduct::last_rel_pos_

protected

Last relative position (used for diagnostic updater)

Definition at line 1323 of file node.h.

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

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation