#include <inertial_sense.h>

Classes
struct	ros_stream_t

Public Types
enum	{ NED, ENU }

enum	NMEA_message_config_t { NMEA_GPGGA = 0x01, NMEA_GPGLL = 0x02, NMEA_GPGSA = 0x04, NMEA_GPRMC = 0x08, NMEA_SER0 = 0x01, NMEA_SER1 = 0x02 }

enum	rtk_state_t { RTK_NONE, RTK_ROVER, RTK_BASE, DUAL_GNSS }

Public Member Functions
void	baro_callback (const barometer_t *const msg)

void	callback (p_data_t *data)

void	configure_ascii_output ()

void	configure_data_streams ()

void	configure_parameters ()

void	configure_rtk ()

void	connect ()

void	diagnostics_callback (const ros::TimerEvent &event)

void	flash_config_callback (const nvm_flash_cfg_t *const msg)

void	get_flash_config ()

void	GPS_eph_callback (const eph_t *const msg)

void	GPS_geph_callback (const geph_t *const msg)

void	GPS_info_callback (const gps_sat_t *const msg)

void	GPS_obs_bundle_timer_callback (const ros::TimerEvent &e)

void	GPS_obs_callback (const obsd_t *const msg, int nObs)

void	GPS_pos_callback (const gps_pos_t *const msg)

void	GPS_raw_callback (const gps_raw_t *const msg)

void	GPS_vel_callback (const gps_vel_t *const msg)

void	IMU_callback (const dual_imu_t *const msg)

	InertialSenseROS ()

void	INL2_states_callback (const inl2_states_t *const msg)

void	INS1_callback (const ins_1_t *const msg)

void	INS2_callback (const ins_2_t *const msg)

void	mag_callback (const magnetometer_t *const msg)

bool	perform_mag_cal_srv_callback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	perform_multi_mag_cal_srv_callback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

void	preint_IMU_callback (const preintegrated_imu_t *const msg)

void	publishGPS ()

void	reset_device ()

ros::Time	ros_time_from_gtime (const uint64_t sec, double subsec)

ros::Time	ros_time_from_start_time (const double time)
	ros_time_from_start_time More...

ros::Time	ros_time_from_tow (const double tow)
	ros_time_from_tow Get equivalent ros time from tow and internal week counter More...

ros::Time	ros_time_from_week_and_tow (const uint32_t week, const double timeOfWeek)
	ros_time_from_week_and_tow Get current ROS time from week and tow More...

void	RTK_Misc_callback (const gps_rtk_misc_t *const msg)

void	RTK_Rel_callback (const gps_rtk_rel_t *const msg)

bool	set_current_position_as_refLLA (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

template<typename T >
void	set_flash_config (std::string param_name, uint32_t offset, T def) __attribute__((optimize(0)))

void	set_navigation_dt_ms ()

bool	set_refLLA_to_value (inertial_sense::refLLAUpdate::Request &req, inertial_sense::refLLAUpdate::Response &res)

template<typename T >
void	set_vector_flash_config (std::string param_name, uint32_t size, uint32_t offset)

void	start_log ()

void	strobe_in_time_callback (const strobe_in_time_t *const msg)

double	tow_from_ros_time (const ros::Time &rt)

void	update ()

bool	update_firmware_srv_callback (inertial_sense::FirmwareUpdate::Request &req, inertial_sense::FirmwareUpdate::Response &res)

Public Attributes
ros_stream_t	baro_

int	baudrate_

tf::TransformBroadcaster	br

float	diagnostic_ar_ratio_

float	diagnostic_differential_age_

float	diagnostic_heading_base_to_rover_

ros_stream_t	diagnostics_

ros::Timer	diagnostics_timer_

ros_stream_t	dt_vel_

double	ecef_ [3]

ros::ServiceServer	firmware_update_srv_

std::string	frame_id_

bool	got_first_message_ = false

ros_stream_t	GPS_

ros_stream_t	GPS_eph_

ros_stream_t	GPS_info_

inertial_sense::GPSInfo	gps_info_msg

inertial_sense::GPS	gps_msg

ros_stream_t	GPS_obs_

double	GPS_towOffset_ = 0

geometry_msgs::Vector3Stamped	gps_velEcef

uint64_t	GPS_week_ = 0

sensor_msgs::Imu	imu1_msg

sensor_msgs::Imu	imu2_msg

ros_stream_t	IMU_

bool	initialized_

ros_stream_t	INL2_states_

inertial_sense::INL2States	inl2_states_msg

ros_stream_t	INS_

double	INS_local_offset_ = 0.0

InertialSense	IS_

ros::Time	last_obs_time_

double	lla_ [3]

bool	log_enabled_

int	LTCF

enum InertialSenseROS:: { ... }	ltcf

ros_stream_t	mag_

ros::ServiceServer	mag_cal_srv_

ros::ServiceServer	multi_mag_cal_srv_

ros::NodeHandle	nh_

ros::NodeHandle	nh_private_

ros::Timer	obs_bundle_timer_

inertial_sense::GNSSObsVec	obs_Vec_

nav_msgs::Odometry	odom_msg

std::string	port_

bool	publishTf

ros::ServiceServer	refLLA_set_current_srv_

ros::ServiceServer	refLLA_set_value_srv_

ros_stream_t	RTK_

rtk_state_t	RTK_state_ = RTK_NONE

ros::Publisher	strobe_pub_

tf::Transform	transform

Detailed Description

Definition at line 51 of file inertial_sense.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
NED
ENU

Definition at line 108 of file inertial_sense.h.

◆ NMEA_message_config_t

enum InertialSenseROS::NMEA_message_config_t

Enumerator
NMEA_GPGGA
NMEA_GPGLL
NMEA_GPGSA
NMEA_GPRMC
NMEA_SER0
NMEA_SER1

Definition at line 54 of file inertial_sense.h.

◆ rtk_state_t

enum InertialSenseROS::rtk_state_t

Enumerator
RTK_NONE
RTK_ROVER
RTK_BASE
DUAL_GNSS

Definition at line 164 of file inertial_sense.h.

Constructor & Destructor Documentation

◆ InertialSenseROS()

InertialSenseROS::InertialSenseROS ( )

Start Up ROS service servers

Definition at line 8 of file inertial_sense.cpp.

Member Function Documentation

◆ baro_callback()

void InertialSenseROS::baro_callback ( const barometer_t *const msg )

Definition at line 588 of file inertial_sense.cpp.

◆ callback()

void InertialSenseROS::callback ( p_data_t * data )

◆ configure_ascii_output()

void InertialSenseROS::configure_ascii_output ( )

Definition at line 143 of file inertial_sense.cpp.

◆ configure_data_streams()

void InertialSenseROS::configure_data_streams ( )

Definition at line 38 of file inertial_sense.cpp.

◆ configure_parameters()

void InertialSenseROS::configure_parameters ( )

Definition at line 196 of file inertial_sense.cpp.

◆ configure_rtk()

void InertialSenseROS::configure_rtk ( )

Definition at line 210 of file inertial_sense.cpp.

◆ connect()

void InertialSenseROS::connect ( )

Connect to the uINS

Definition at line 159 of file inertial_sense.cpp.

◆ diagnostics_callback()

void InertialSenseROS::diagnostics_callback ( const ros::TimerEvent & event )

Definition at line 803 of file inertial_sense.cpp.

◆ flash_config_callback()

void InertialSenseROS::flash_config_callback ( const nvm_flash_cfg_t *const msg )

◆ get_flash_config()

void InertialSenseROS::get_flash_config ( )

◆ GPS_eph_callback()

void InertialSenseROS::GPS_eph_callback ( const eph_t *const msg )

Definition at line 729 of file inertial_sense.cpp.

◆ GPS_geph_callback()

void InertialSenseROS::GPS_geph_callback ( const geph_t *const msg )

Definition at line 775 of file inertial_sense.cpp.

◆ GPS_info_callback()

void InertialSenseROS::GPS_info_callback ( const gps_sat_t *const msg )

Definition at line 557 of file inertial_sense.cpp.

◆ GPS_obs_bundle_timer_callback()

void InertialSenseROS::GPS_obs_bundle_timer_callback ( const ros::TimerEvent & e )

Definition at line 713 of file inertial_sense.cpp.

◆ GPS_obs_callback()

void InertialSenseROS::GPS_obs_callback	(	const obsd_t *const	msg,
		int	nObs
	)

Definition at line 685 of file inertial_sense.cpp.

◆ GPS_pos_callback()

void InertialSenseROS::GPS_pos_callback ( const gps_pos_t *const msg )

Definition at line 491 of file inertial_sense.cpp.

◆ GPS_raw_callback()

void InertialSenseROS::GPS_raw_callback ( const gps_raw_t *const msg )

Definition at line 664 of file inertial_sense.cpp.

◆ GPS_vel_callback()

void InertialSenseROS::GPS_vel_callback ( const gps_vel_t *const msg )

Definition at line 516 of file inertial_sense.cpp.

◆ IMU_callback()

void InertialSenseROS::IMU_callback ( const dual_imu_t *const msg )

Definition at line 464 of file inertial_sense.cpp.

◆ INL2_states_callback()

void InertialSenseROS::INL2_states_callback ( const inl2_states_t *const msg )

Definition at line 426 of file inertial_sense.cpp.

◆ INS1_callback()

void InertialSenseROS::INS1_callback ( const ins_1_t *const msg )

Definition at line 317 of file inertial_sense.cpp.

◆ INS2_callback()

void InertialSenseROS::INS2_callback ( const ins_2_t *const msg )

Definition at line 366 of file inertial_sense.cpp.

◆ mag_callback()

void InertialSenseROS::mag_callback ( const magnetometer_t *const msg )

Definition at line 576 of file inertial_sense.cpp.

◆ perform_mag_cal_srv_callback()

bool InertialSenseROS::perform_mag_cal_srv_callback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 925 of file inertial_sense.cpp.

◆ perform_multi_mag_cal_srv_callback()

bool InertialSenseROS::perform_multi_mag_cal_srv_callback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 954 of file inertial_sense.cpp.

◆ preint_IMU_callback()

void InertialSenseROS::preint_IMU_callback ( const preintegrated_imu_t *const msg )

Definition at line 599 of file inertial_sense.cpp.

◆ publishGPS()

void InertialSenseROS::publishGPS ( )

Definition at line 528 of file inertial_sense.cpp.

◆ reset_device()

void InertialSenseROS::reset_device ( )

Definition at line 983 of file inertial_sense.cpp.

◆ ros_time_from_gtime()

ros::Time InertialSenseROS::ros_time_from_gtime	(	const uint64_t	sec,
		double	subsec
	)

Definition at line 1077 of file inertial_sense.cpp.

◆ ros_time_from_start_time()

ros::Time InertialSenseROS::ros_time_from_start_time ( const double time )

ros_time_from_start_time

Parameters

time	- Time since boot up in seconds - Convert to GPS time of week by adding gps.towOffset

Returns: equivalent ros::Time

Definition at line 1037 of file inertial_sense.cpp.

◆ ros_time_from_tow()

ros::Time InertialSenseROS::ros_time_from_tow ( const double tow )

ros_time_from_tow Get equivalent ros time from tow and internal week counter

Parameters

tow	Time of Week (seconds)

Returns: equivalent ros::Time

Definition at line 1067 of file inertial_sense.cpp.

◆ ros_time_from_week_and_tow()

ros::Time InertialSenseROS::ros_time_from_week_and_tow	(	const uint32_t	week,
		const double	timeOfWeek
	)

ros_time_from_week_and_tow Get current ROS time from week and tow

Parameters

week	Weeks since January 6th, 1980
timeOfWeek	Time of week (since Sunday morning) in seconds, GMT

Returns: equivalent ros::Time

Definition at line 1008 of file inertial_sense.cpp.

◆ RTK_Misc_callback()

void InertialSenseROS::RTK_Misc_callback ( const gps_rtk_misc_t *const msg )

Definition at line 617 of file inertial_sense.cpp.

◆ RTK_Rel_callback()

void InertialSenseROS::RTK_Rel_callback ( const gps_rtk_rel_t *const msg )

Definition at line 642 of file inertial_sense.cpp.

◆ set_current_position_as_refLLA()

bool InertialSenseROS::set_current_position_as_refLLA	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 859 of file inertial_sense.cpp.

◆ set_flash_config()

template<typename T >

void InertialSenseROS::set_flash_config	(	std::string	param_name,
		uint32_t	offset,
		T	def
	)

Definition at line 310 of file inertial_sense.cpp.

◆ set_navigation_dt_ms()

void InertialSenseROS::set_navigation_dt_ms ( )

Definition at line 179 of file inertial_sense.cpp.

◆ set_refLLA_to_value()

bool InertialSenseROS::set_refLLA_to_value	(	inertial_sense::refLLAUpdate::Request &	req,
		inertial_sense::refLLAUpdate::Response &	res
	)

Definition at line 896 of file inertial_sense.cpp.

◆ set_vector_flash_config()

template<typename T >

void InertialSenseROS::set_vector_flash_config	(	std::string	param_name,
		uint32_t	size,
		uint32_t	offset
	)

Definition at line 295 of file inertial_sense.cpp.

◆ start_log()

void InertialSenseROS::start_log ( )

Definition at line 136 of file inertial_sense.cpp.

◆ strobe_in_time_callback()

void InertialSenseROS::strobe_in_time_callback ( const strobe_in_time_t *const msg )

Definition at line 542 of file inertial_sense.cpp.

◆ tow_from_ros_time()

double InertialSenseROS::tow_from_ros_time ( const ros::Time & rt )

Definition at line 1072 of file inertial_sense.cpp.

◆ update()

void InertialSenseROS::update ( )

Definition at line 537 of file inertial_sense.cpp.

◆ update_firmware_srv_callback()

bool InertialSenseROS::update_firmware_srv_callback	(	inertial_sense::FirmwareUpdate::Request &	req,
		inertial_sense::FirmwareUpdate::Response &	res
	)

Definition at line 993 of file inertial_sense.cpp.

Member Data Documentation

◆ baro_

ros_stream_t InertialSenseROS::baro_

Definition at line 137 of file inertial_sense.h.

◆ baudrate_

int InertialSenseROS::baudrate_

Definition at line 83 of file inertial_sense.h.

◆ br

tf::TransformBroadcaster InertialSenseROS::br

Definition at line 104 of file inertial_sense.h.

◆ diagnostic_ar_ratio_

float InertialSenseROS::diagnostic_ar_ratio_

Definition at line 149 of file inertial_sense.h.

◆ diagnostic_differential_age_

float InertialSenseROS::diagnostic_differential_age_

Definition at line 149 of file inertial_sense.h.

◆ diagnostic_heading_base_to_rover_

float InertialSenseROS::diagnostic_heading_base_to_rover_

Definition at line 149 of file inertial_sense.h.

◆ diagnostics_

ros_stream_t InertialSenseROS::diagnostics_

Definition at line 146 of file inertial_sense.h.

◆ diagnostics_timer_

ros::Timer InertialSenseROS::diagnostics_timer_

Definition at line 148 of file inertial_sense.h.

◆ dt_vel_

ros_stream_t InertialSenseROS::dt_vel_

Definition at line 140 of file inertial_sense.h.

◆ ecef_

double InertialSenseROS::ecef_[3]

Definition at line 213 of file inertial_sense.h.

◆ firmware_update_srv_

ros::ServiceServer InertialSenseROS::firmware_update_srv_

Definition at line 153 of file inertial_sense.h.

◆ frame_id_

std::string InertialSenseROS::frame_id_

Definition at line 87 of file inertial_sense.h.

◆ got_first_message_

bool InertialSenseROS::got_first_message_ = false

Definition at line 209 of file inertial_sense.h.

◆ GPS_

ros_stream_t InertialSenseROS::GPS_

Definition at line 117 of file inertial_sense.h.

◆ GPS_eph_

ros_stream_t InertialSenseROS::GPS_eph_

Definition at line 119 of file inertial_sense.h.

◆ GPS_info_

ros_stream_t InertialSenseROS::GPS_info_

Definition at line 131 of file inertial_sense.h.

◆ gps_info_msg

inertial_sense::GPSInfo InertialSenseROS::gps_info_msg

Definition at line 218 of file inertial_sense.h.

◆ gps_msg

inertial_sense::GPS InertialSenseROS::gps_msg

Definition at line 216 of file inertial_sense.h.

◆ GPS_obs_

ros_stream_t InertialSenseROS::GPS_obs_

Definition at line 118 of file inertial_sense.h.

◆ GPS_towOffset_

double InertialSenseROS::GPS_towOffset_ = 0

Definition at line 204 of file inertial_sense.h.

◆ gps_velEcef

geometry_msgs::Vector3Stamped InertialSenseROS::gps_velEcef

Definition at line 217 of file inertial_sense.h.

◆ GPS_week_

uint64_t InertialSenseROS::GPS_week_ = 0

Definition at line 206 of file inertial_sense.h.

◆ imu1_msg

sensor_msgs::Imu InertialSenseROS::imu1_msg

Definition at line 214 of file inertial_sense.h.

◆ imu2_msg

sensor_msgs::Imu InertialSenseROS::imu2_msg

Definition at line 214 of file inertial_sense.h.

◆ IMU_

ros_stream_t InertialSenseROS::IMU_

Definition at line 114 of file inertial_sense.h.

◆ initialized_

bool InertialSenseROS::initialized_

Definition at line 84 of file inertial_sense.h.

◆ INL2_states_

ros_stream_t InertialSenseROS::INL2_states_

Definition at line 102 of file inertial_sense.h.

◆ inl2_states_msg

inertial_sense::INL2States InertialSenseROS::inl2_states_msg

Definition at line 219 of file inertial_sense.h.

◆ INS_

ros_stream_t InertialSenseROS::INS_

Definition at line 97 of file inertial_sense.h.

◆ INS_local_offset_

double InertialSenseROS::INS_local_offset_ = 0.0

Definition at line 208 of file inertial_sense.h.

◆ IS_

InertialSense InertialSenseROS::IS_

Definition at line 225 of file inertial_sense.h.

◆ last_obs_time_

ros::Time InertialSenseROS::last_obs_time_

Definition at line 129 of file inertial_sense.h.

◆ lla_

double InertialSenseROS::lla_[3]

Definition at line 212 of file inertial_sense.h.

◆ log_enabled_

bool InertialSenseROS::log_enabled_

Definition at line 85 of file inertial_sense.h.

◆ LTCF

int InertialSenseROS::LTCF

Definition at line 107 of file inertial_sense.h.

◆ ltcf

enum { ... } InertialSenseROS::ltcf

◆ mag_

ros_stream_t InertialSenseROS::mag_

Definition at line 134 of file inertial_sense.h.

◆ mag_cal_srv_

ros::ServiceServer InertialSenseROS::mag_cal_srv_

Definition at line 151 of file inertial_sense.h.

◆ multi_mag_cal_srv_

ros::ServiceServer InertialSenseROS::multi_mag_cal_srv_

Definition at line 152 of file inertial_sense.h.

◆ nh_

ros::NodeHandle InertialSenseROS::nh_

Definition at line 221 of file inertial_sense.h.

◆ nh_private_

ros::NodeHandle InertialSenseROS::nh_private_

Definition at line 222 of file inertial_sense.h.

◆ obs_bundle_timer_

ros::Timer InertialSenseROS::obs_bundle_timer_

Definition at line 128 of file inertial_sense.h.

◆ obs_Vec_

inertial_sense::GNSSObsVec InertialSenseROS::obs_Vec_

Definition at line 127 of file inertial_sense.h.

◆ odom_msg

nav_msgs::Odometry InertialSenseROS::odom_msg

Definition at line 215 of file inertial_sense.h.

◆ port_

std::string InertialSenseROS::port_

Definition at line 82 of file inertial_sense.h.

◆ publishTf

bool InertialSenseROS::publishTf

Definition at line 105 of file inertial_sense.h.

◆ refLLA_set_current_srv_

ros::ServiceServer InertialSenseROS::refLLA_set_current_srv_

Definition at line 154 of file inertial_sense.h.

◆ refLLA_set_value_srv_

ros::ServiceServer InertialSenseROS::refLLA_set_value_srv_

Definition at line 155 of file inertial_sense.h.

◆ RTK_

ros_stream_t InertialSenseROS::RTK_

Definition at line 172 of file inertial_sense.h.

◆ RTK_state_

rtk_state_t InertialSenseROS::RTK_state_ = RTK_NONE

Definition at line 171 of file inertial_sense.h.

◆ strobe_pub_

ros::Publisher InertialSenseROS::strobe_pub_

Definition at line 143 of file inertial_sense.h.

◆ transform

tf::Transform InertialSenseROS::transform

Definition at line 106 of file inertial_sense.h.

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

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ NMEA_message_config_t

◆ rtk_state_t

Constructor & Destructor Documentation

◆ InertialSenseROS()

Member Function Documentation

◆ baro_callback()

◆ callback()

◆ configure_ascii_output()

◆ configure_data_streams()

◆ configure_parameters()

◆ configure_rtk()

◆ connect()

◆ diagnostics_callback()

◆ flash_config_callback()

◆ get_flash_config()

◆ GPS_eph_callback()

◆ GPS_geph_callback()

◆ GPS_info_callback()

◆ GPS_obs_bundle_timer_callback()

◆ GPS_obs_callback()

◆ GPS_pos_callback()

◆ GPS_raw_callback()

◆ GPS_vel_callback()

◆ IMU_callback()

◆ INL2_states_callback()

◆ INS1_callback()

◆ INS2_callback()

◆ mag_callback()

◆ perform_mag_cal_srv_callback()

◆ perform_multi_mag_cal_srv_callback()

◆ preint_IMU_callback()

◆ publishGPS()

◆ reset_device()

◆ ros_time_from_gtime()

◆ ros_time_from_start_time()

◆ ros_time_from_tow()

◆ ros_time_from_week_and_tow()

◆ RTK_Misc_callback()

◆ RTK_Rel_callback()

◆ set_current_position_as_refLLA()

◆ set_flash_config()

◆ set_navigation_dt_ms()

◆ set_refLLA_to_value()

◆ set_vector_flash_config()

◆ start_log()

◆ strobe_in_time_callback()

◆ tow_from_ros_time()

◆ update()

◆ update_firmware_srv_callback()

Member Data Documentation

◆ baro_

◆ baudrate_

◆ br

◆ diagnostic_ar_ratio_

◆ diagnostic_differential_age_

◆ diagnostic_heading_base_to_rover_

◆ diagnostics_

◆ diagnostics_timer_

◆ dt_vel_

◆ ecef_

◆ firmware_update_srv_

◆ frame_id_

◆ got_first_message_

◆ GPS_

◆ GPS_eph_

◆ GPS_info_

◆ gps_info_msg

◆ gps_msg

◆ GPS_obs_

◆ GPS_towOffset_

◆ gps_velEcef

◆ GPS_week_

◆ imu1_msg