nmea_topic_driver.py

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"""Defines the main method for the nmea_topic_driver executable."""


from nmea_msgs.msg import Sentence
import rospy

from libnmea_navsat_driver.driver import RosNMEADriver


def nmea_sentence_callback(nmea_sentence, driver):
    """Process a NMEA sentence message with a RosNMEADriver.

    Args:
        nmea_sentence (nmea_msgs.msg.Sentence): NMEA sentence message to feed to the driver.
        driver (RosNMEADriver): Driver to feed the sentence.
    """
    try:
        driver.add_sentence(
            nmea_sentence.sentence,
            frame_id=nmea_sentence.header.frame_id,
            timestamp=nmea_sentence.header.stamp)
    except ValueError as e:
        rospy.logwarn(
            "Value error, likely due to missing fields in the NMEA message. "
            "Error was: %s. Please report this issue at github.com/ros-drivers/nmea_navsat_driver, "
            "including a bag file with the NMEA sentences that caused it." %
            e)


def main():
    """Create and run the nmea_topic_driver ROS node.

    Creates a NMEA Driver and feeds it NMEA sentence strings from a ROS subscriber.

    ROS subscribers:
        mea_sentence (nmea_msgs.msg.Sentence): NMEA sentence messages to feed to the driver.
    """
    rospy.init_node('nmea_topic_driver')

    driver = RosNMEADriver()

    rospy.Subscriber("nmea_sentence", Sentence, nmea_sentence_callback,
                     driver)

    rospy.spin()