libnmea_navsat_driver.driver.RosNMEADriver Class Reference

Inheritance diagram for libnmea_navsat_driver.driver.RosNMEADriver:

Public Member Functions
def	__init__ (self)
def	add_sentence (self, nmea_string, frame_id, timestamp=None)

Static Public Member Functions
def	get_frame_id ()

Public Attributes
	fix_pub
	last_valid_fix_time
	time_ref_pub
	time_ref_source
	use_GNSS_time
	use_RMC
	valid_fix
	vel_pub

Detailed Description

ROS driver for NMEA GNSS devices.

Definition at line 46 of file driver.py.

Constructor & Destructor Documentation

__init__()

def libnmea_navsat_driver.driver.RosNMEADriver.__init__

(

self

)

Initialize the ROS NMEA driver.

Creates the following ROS publishers:
    NavSatFix publisher on the 'fix' channel.
    TwistStamped publisher on the 'vel' channel.
    QuaternionStamped publisher on the 'heading' channel.
    TimeReference publisher on the 'time_reference' channel.

Reads the following ROS parameters:
    ~time_ref_source (str): The name of the source in published TimeReference messages. (default None)
    ~useRMC (bool): If true, use RMC NMEA messages. If false, use GGA and VTG messages. (default False)
    ~epe_quality0 (float): Value to use for default EPE quality for fix type 0. (default 1000000)
    ~epe_quality1 (float): Value to use for default EPE quality for fix type 1. (default 4.0)
    ~epe_quality2 (float): Value to use for default EPE quality for fix type 2. (default (0.1)
    ~epe_quality4 (float): Value to use for default EPE quality for fix type 4. (default 0.02)
    ~epe_quality5 (float): Value to use for default EPE quality for fix type 5. (default 4.0)
    ~epe_quality9 (float): Value to use for default EPE quality for fix type 9. (default 3.0)

Definition at line 49 of file driver.py.

Member Function Documentation

add_sentence()

def libnmea_navsat_driver.driver.RosNMEADriver.add_sentence	(		self,
			nmea_string,
			frame_id,
			timestamp = None
	)

Public method to provide a new NMEA sentence to the driver.

Args:
    nmea_string (str): NMEA sentence in string form.
    frame_id (str): TF frame ID of the GPS receiver.
    timestamp(rospy.Time, optional): Time the sentence was received.
If timestamp is not specified, the current time is used.

Returns:
    bool: True if the NMEA string is successfully processed, False if there is an error.

Definition at line 79 of file driver.py.

get_frame_id()

def libnmea_navsat_driver.driver.RosNMEADriver.get_frame_id ( )

static

Get the TF frame_id.

Queries rosparam for the ~frame_id param. If a tf_prefix param is set,
the frame_id is prefixed with the prefix.

Returns:
    str: The fully-qualified TF frame ID.

Definition at line 250 of file driver.py.

Member Data Documentation

fix_pub

libnmea_navsat_driver.driver.RosNMEADriver.fix_pub

Definition at line 68 of file driver.py.

last_valid_fix_time

libnmea_navsat_driver.driver.RosNMEADriver.last_valid_fix_time

Definition at line 180 of file driver.py.

time_ref_pub

libnmea_navsat_driver.driver.RosNMEADriver.time_ref_pub

Definition at line 72 of file driver.py.

time_ref_source

libnmea_navsat_driver.driver.RosNMEADriver.time_ref_source

Definition at line 75 of file driver.py.

use_GNSS_time

libnmea_navsat_driver.driver.RosNMEADriver.use_GNSS_time

Definition at line 70 of file driver.py.

use_RMC

libnmea_navsat_driver.driver.RosNMEADriver.use_RMC

Definition at line 76 of file driver.py.

valid_fix

libnmea_navsat_driver.driver.RosNMEADriver.valid_fix

Definition at line 77 of file driver.py.

vel_pub

libnmea_navsat_driver.driver.RosNMEADriver.vel_pub

Definition at line 69 of file driver.py.

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

• driver.py