ublox_node::UbloxFirmware6 Class Reference

Implements functions for firmware version 6. More...

#include <node.h>

Inheritance diagram for ublox_node::UbloxFirmware6:

Public Member Functions
bool	configureUblox ()
	Prints a warning, GNSS configuration not available in this version. More...
void	getRosParams ()
	Sets the fix status service type to GPS. More...
void	subscribe ()
	Subscribe to NavPVT, RxmRAW, and RxmSFRB messages. More...
	UbloxFirmware6 ()
Public Member Functions inherited from ublox_node::UbloxFirmware
void	initializeRosDiagnostics ()
	Add the fix diagnostics to the updater. More...

Protected Member Functions
void	fixDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
	Updates fix diagnostic from NavPOSLLH, NavVELNED, and NavSOL messages. More...

Private Member Functions
void	callbackNavPosLlh (const ublox_msgs::NavPOSLLH &m)
	Publish the fix and call the fix diagnostic updater. More...
void	callbackNavSol (const ublox_msgs::NavSOL &m)
	Update the number of SVs used for the fix. More...
void	callbackNavVelNed (const ublox_msgs::NavVELNED &m)
	Update the last known velocity. More...

Private Attributes
ublox_msgs::CfgNMEA6	cfg_nmea_
	Used to configure NMEA (if set_nmea_) filled with ROS parameters. More...
sensor_msgs::NavSatFix	fix_
	The last NavSatFix based on last_nav_pos_. More...
ublox_msgs::NavPOSLLH	last_nav_pos_
	The last received navigation position. More...
ublox_msgs::NavSOL	last_nav_sol_
	The last received num SVs used. More...
ublox_msgs::NavVELNED	last_nav_vel_
	The last received navigation velocity. More...
bool	set_nmea_
	Whether or not to configure the NMEA settings. More...
geometry_msgs::TwistWithCovarianceStamped	velocity_
	The last Twist based on last_nav_vel_. More...

Detailed Description

Implements functions for firmware version 6.

Definition at line 676 of file node.h.

Constructor & Destructor Documentation

UbloxFirmware6::UbloxFirmware6

(

)

Definition at line 602 of file node.cpp.

Member Function Documentation

void UbloxFirmware6::callbackNavPosLlh ( const ublox_msgs::NavPOSLLH &  m )

private

Publish the fix and call the fix diagnostic updater.

Also updates the last known position and publishes the NavPosLLH message if publishing is enabled.

Parameters

m	the message to process

Definition at line 728 of file node.cpp.

void UbloxFirmware6::callbackNavSol ( const ublox_msgs::NavSOL &  m )

private

Update the number of SVs used for the fix.

Publish the message if publishing is enabled.

Parameters

m	the message to process

Definition at line 805 of file node.cpp.

void UbloxFirmware6::callbackNavVelNed ( const ublox_msgs::NavVELNED &  m )

private

Update the last known velocity.

Publish the message if publishing is enabled.

Parameters

m	the message to process

Definition at line 771 of file node.cpp.

bool UbloxFirmware6::configureUblox ( )

virtual

Prints a warning, GNSS configuration not available in this version.

Returns

true if configured correctly, false otherwise

Implements ublox_node::ComponentInterface.

Definition at line 646 of file node.cpp.

void UbloxFirmware6::fixDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

protectedvirtual

Updates fix diagnostic from NavPOSLLH, NavVELNED, and NavSOL messages.

Implements ublox_node::UbloxFirmware.

Definition at line 686 of file node.cpp.

void UbloxFirmware6::getRosParams ( )

virtual

Sets the fix status service type to GPS.

Implements ublox_node::ComponentInterface.

Definition at line 604 of file node.cpp.

void UbloxFirmware6::subscribe ( )

virtual

Subscribe to NavPVT, RxmRAW, and RxmSFRB messages.

Implements ublox_node::ComponentInterface.

Definition at line 655 of file node.cpp.

Member Data Documentation

ublox_msgs::CfgNMEA6 ublox_node::UbloxFirmware6::cfg_nmea_

private

Used to configure NMEA (if set_nmea_) filled with ROS parameters.

Definition at line 741 of file node.h.

sensor_msgs::NavSatFix ublox_node::UbloxFirmware6::fix_

private

The last NavSatFix based on last_nav_pos_.

Definition at line 736 of file node.h.

ublox_msgs::NavPOSLLH ublox_node::UbloxFirmware6::last_nav_pos_

private

The last received navigation position.

Definition at line 730 of file node.h.

ublox_msgs::NavSOL ublox_node::UbloxFirmware6::last_nav_sol_

private

The last received num SVs used.

Definition at line 734 of file node.h.

ublox_msgs::NavVELNED ublox_node::UbloxFirmware6::last_nav_vel_

private

The last received navigation velocity.

Definition at line 732 of file node.h.

bool ublox_node::UbloxFirmware6::set_nmea_

private

Whether or not to configure the NMEA settings.

Definition at line 743 of file node.h.

geometry_msgs::TwistWithCovarianceStamped ublox_node::UbloxFirmware6::velocity_

private

The last Twist based on last_nav_vel_.

Definition at line 738 of file node.h.

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

• node.h
• node.cpp