sbg::MessagePublisher Class Reference

#include <message_publisher.h>

Public Member Functions
void	initPublishers (ros::NodeHandle &ref_ros_node_handle, const ConfigStore &ref_config_store)
	MessagePublisher (void)
void	publish (SbgEComClass sbg_msg_class, SbgEComMsgId sbg_msg_id, const SbgBinaryLogData &ref_sbg_log)

Private Member Functions
void	defineRosStandardPublishers (ros::NodeHandle &ref_ros_node_handle, bool odom_enable)
std::string	getOutputTopicName (SbgEComMsgId sbg_message_id) const
void	initPublisher (ros::NodeHandle &ref_ros_node_handle, SbgEComMsgId sbg_msg_id, SbgEComOutputMode output_conf, const std::string &ref_output_topic)
void	processRosImuMessage (void)
void	processRosOdoMessage (void)
void	processRosVelMessage (void)
void	publishEkfNavigationData (const SbgBinaryLogData &ref_sbg_log)
void	publishFluidPressureData (const SbgBinaryLogData &ref_sbg_log)
void	publishGpsPosData (const SbgBinaryLogData &ref_sbg_log)
void	publishIMUData (const SbgBinaryLogData &ref_sbg_log)
void	publishMagData (const SbgBinaryLogData &ref_sbg_log)
void	publishUtcData (const SbgBinaryLogData &ref_sbg_log)

Private Attributes
ros::Publisher	m_fluid_pub_
std::string	m_frame_id_
ros::Publisher	m_imu_pub_
ros::Publisher	m_mag_pub_
uint32_t	m_max_messages_
MessageWrapper	m_message_wrapper_
ros::Publisher	m_nav_sat_fix_pub_
ros::Publisher	m_odometry_pub_
ros::Publisher	m_pos_ecef_pub_
sbg_driver::SbgEkfEuler	m_sbg_ekf_euler_message_
sbg_driver::SbgEkfNav	m_sbg_ekf_nav_message_
sbg_driver::SbgEkfQuat	m_sbg_ekf_quat_message_
sbg_driver::SbgImuData	m_sbg_imu_message_
ros::Publisher	m_sbgAirData_pub_
ros::Publisher	m_sbgEkfEuler_pub_
ros::Publisher	m_sbgEkfNav_pub_
ros::Publisher	m_sbgEkfQuat_pub_
ros::Publisher	m_sbgEventA_pub_
ros::Publisher	m_sbgEventB_pub_
ros::Publisher	m_sbgEventC_pub_
ros::Publisher	m_sbgEventD_pub_
ros::Publisher	m_sbgEventE_pub_
ros::Publisher	m_sbgGpsHdt_pub_
ros::Publisher	m_sbgGpsPos_pub_
ros::Publisher	m_sbgGpsRaw_pub_
ros::Publisher	m_sbgGpsVel_pub_
ros::Publisher	m_sbgImuData_pub_
ros::Publisher	m_sbgImuShort_pub_
ros::Publisher	m_sbgMag_pub_
ros::Publisher	m_sbgMagCalib_pub_
ros::Publisher	m_sbgOdoVel_pub_
ros::Publisher	m_sbgShipMotion_pub_
ros::Publisher	m_sbgStatus_pub_
ros::Publisher	m_sbgUtcTime_pub_
ros::Publisher	m_temp_pub_
ros::Publisher	m_utc_reference_pub_
ros::Publisher	m_velocity_pub_

Detailed Description

Class to publish all SBG-ROS messages to the corresponding publishers.

Definition at line 44 of file message_publisher.h.

Constructor & Destructor Documentation

MessagePublisher()

MessagePublisher::MessagePublisher

(

void

)

Default constructor.

Class to publish all SBG-ROS messages to the corresponding publishers.

Definition at line 12 of file message_publisher.cpp.

Member Function Documentation

defineRosStandardPublishers()

void MessagePublisher::defineRosStandardPublishers ( ros::NodeHandle &  ref_ros_node_handle, bool  odom_enable  )

private

Define standard ROS publishers.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	odom_enable	If true, enable odometry messages.

Definition at line 217 of file message_publisher.cpp.

getOutputTopicName()

std::string MessagePublisher::getOutputTopicName ( SbgEComMsgId  sbg_message_id ) const

private

Get the corresponding topic name output for the SBG output mode.

Parameters

[in]

sbg_message_id

SBG message ID.

Returns

Output topic name.

Definition at line 21 of file message_publisher.cpp.

initPublisher()

void MessagePublisher::initPublisher ( ros::NodeHandle &  ref_ros_node_handle, SbgEComMsgId  sbg_msg_id, SbgEComOutputMode  output_conf, const std::string &  ref_output_topic  )

private

Initialize the publisher for the specified SBG Id, and the output configuration.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	sbg_msg_id	Id of the SBG message.
[in]	output_conf	Output configuration.
[in]	ref_output_topic	Output topic for the publisher.

Definition at line 100 of file message_publisher.cpp.

initPublishers()

void MessagePublisher::initPublishers	(	ros::NodeHandle &	ref_ros_node_handle,
		const ConfigStore &	ref_config_store
	)

Initialize the publishers for the output configuration.

Parameters

[in]	ref_ros_node_handle	Ros NodeHandle to advertise the publisher.
[in]	ref_config_store	Store configuration for the publishers.

Definition at line 470 of file message_publisher.cpp.

processRosImuMessage()

void MessagePublisher::processRosImuMessage ( void  )

private

Process a ROS IMU standard message.

Definition at line 344 of file message_publisher.cpp.

processRosOdoMessage()

void MessagePublisher::processRosOdoMessage ( void  )

private

Process a ROS odometry standard message.

Definition at line 355 of file message_publisher.cpp.

processRosVelMessage()

void MessagePublisher::processRosVelMessage ( void  )

private

Process a ROS Velocity standard message.

Definition at line 329 of file message_publisher.cpp.

publish()

void MessagePublisher::publish	(	SbgEComClass	sbg_msg_class,
		SbgEComMsgId	sbg_msg_id,
		const SbgBinaryLogData &	ref_sbg_log
	)

Publish the received SbgLog if the corresponding publisher is defined.

Parameters

[in]	sbg_msg_class	Class ID of the SBG message.
[in]	sbg_msg_id	Id of the SBG message.
[in]	ref_sbg_log	SBG binary log.

Definition at line 500 of file message_publisher.cpp.

publishEkfNavigationData()

void MessagePublisher::publishEkfNavigationData ( const SbgBinaryLogData &  ref_sbg_log )

private

Publish a received SBG EkfNav log.

Parameters

[in]

ref_sbg_log

SBG log.

Definition at line 416 of file message_publisher.cpp.

publishFluidPressureData()

void MessagePublisher::publishFluidPressureData ( const SbgBinaryLogData &  ref_sbg_log )

private

Publish a received SBG Fluid pressure log.

Parameters

[in]

ref_sbg_log

SBG log.

Definition at line 401 of file message_publisher.cpp.

publishGpsPosData()

void MessagePublisher::publishGpsPosData ( const SbgBinaryLogData &  ref_sbg_log )

private

Publish a received SBG GpsPos log.

Parameters

[in]

ref_sbg_log

SBG log.

Definition at line 450 of file message_publisher.cpp.

publishIMUData()

void MessagePublisher::publishIMUData ( const SbgBinaryLogData &  ref_sbg_log )

private

Publish a received SBG IMU log.

Parameters

[in]

ref_sbg_log

SBG log.

Definition at line 312 of file message_publisher.cpp.

publishMagData()

void MessagePublisher::publishMagData ( const SbgBinaryLogData &  ref_sbg_log )

private

Publish a received SBG Magnetic log.

Parameters

[in]

ref_sbg_log

SBG log.

Definition at line 386 of file message_publisher.cpp.

publishUtcData()

void MessagePublisher::publishUtcData ( const SbgBinaryLogData &  ref_sbg_log )

private

Publish a received SBG UTC log.

Parameters

[in]

ref_sbg_log

SBG log.

Definition at line 431 of file message_publisher.cpp.

Member Data Documentation

m_fluid_pub_

ros::Publisher sbg::MessagePublisher::m_fluid_pub_

private

Definition at line 78 of file message_publisher.h.

m_frame_id_

std::string sbg::MessagePublisher::m_frame_id_

private

Definition at line 87 of file message_publisher.h.

m_imu_pub_

ros::Publisher sbg::MessagePublisher::m_imu_pub_

private

Definition at line 70 of file message_publisher.h.

m_mag_pub_

ros::Publisher sbg::MessagePublisher::m_mag_pub_

private

Definition at line 77 of file message_publisher.h.

m_max_messages_

uint32_t sbg::MessagePublisher::m_max_messages_

private

Definition at line 86 of file message_publisher.h.

m_message_wrapper_

MessageWrapper sbg::MessagePublisher::m_message_wrapper_

private

Definition at line 85 of file message_publisher.h.

m_nav_sat_fix_pub_

ros::Publisher sbg::MessagePublisher::m_nav_sat_fix_pub_

private

Definition at line 82 of file message_publisher.h.

m_odometry_pub_

ros::Publisher sbg::MessagePublisher::m_odometry_pub_

private

Definition at line 83 of file message_publisher.h.

m_pos_ecef_pub_

ros::Publisher sbg::MessagePublisher::m_pos_ecef_pub_

private

Definition at line 79 of file message_publisher.h.

m_sbg_ekf_euler_message_

sbg_driver::SbgEkfEuler sbg::MessagePublisher::m_sbg_ekf_euler_message_

private

Definition at line 74 of file message_publisher.h.

m_sbg_ekf_nav_message_

sbg_driver::SbgEkfNav sbg::MessagePublisher::m_sbg_ekf_nav_message_

private

Definition at line 73 of file message_publisher.h.

m_sbg_ekf_quat_message_

sbg_driver::SbgEkfQuat sbg::MessagePublisher::m_sbg_ekf_quat_message_

private

Definition at line 72 of file message_publisher.h.

m_sbg_imu_message_

sbg_driver::SbgImuData sbg::MessagePublisher::m_sbg_imu_message_

private

Definition at line 71 of file message_publisher.h.

m_sbgAirData_pub_

ros::Publisher sbg::MessagePublisher::m_sbgAirData_pub_

private

Definition at line 68 of file message_publisher.h.

m_sbgEkfEuler_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEkfEuler_pub_

private

Definition at line 51 of file message_publisher.h.

m_sbgEkfNav_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEkfNav_pub_

private

Definition at line 53 of file message_publisher.h.

m_sbgEkfQuat_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEkfQuat_pub_

private

Definition at line 52 of file message_publisher.h.

m_sbgEventA_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEventA_pub_

private

Definition at line 62 of file message_publisher.h.

m_sbgEventB_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEventB_pub_

private

Definition at line 63 of file message_publisher.h.

m_sbgEventC_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEventC_pub_

private

Definition at line 64 of file message_publisher.h.

m_sbgEventD_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEventD_pub_

private

Definition at line 65 of file message_publisher.h.

m_sbgEventE_pub_

ros::Publisher sbg::MessagePublisher::m_sbgEventE_pub_

private

Definition at line 66 of file message_publisher.h.

m_sbgGpsHdt_pub_

ros::Publisher sbg::MessagePublisher::m_sbgGpsHdt_pub_

private

Definition at line 59 of file message_publisher.h.

m_sbgGpsPos_pub_

ros::Publisher sbg::MessagePublisher::m_sbgGpsPos_pub_

private

Definition at line 58 of file message_publisher.h.

m_sbgGpsRaw_pub_

ros::Publisher sbg::MessagePublisher::m_sbgGpsRaw_pub_

private

Definition at line 60 of file message_publisher.h.

m_sbgGpsVel_pub_

ros::Publisher sbg::MessagePublisher::m_sbgGpsVel_pub_

private

Definition at line 57 of file message_publisher.h.

m_sbgImuData_pub_

ros::Publisher sbg::MessagePublisher::m_sbgImuData_pub_

private

Definition at line 50 of file message_publisher.h.

m_sbgImuShort_pub_

ros::Publisher sbg::MessagePublisher::m_sbgImuShort_pub_

private

Definition at line 67 of file message_publisher.h.

m_sbgMag_pub_

ros::Publisher sbg::MessagePublisher::m_sbgMag_pub_

private

Definition at line 55 of file message_publisher.h.

m_sbgMagCalib_pub_

ros::Publisher sbg::MessagePublisher::m_sbgMagCalib_pub_

private

Definition at line 56 of file message_publisher.h.

m_sbgOdoVel_pub_

ros::Publisher sbg::MessagePublisher::m_sbgOdoVel_pub_

private

Definition at line 61 of file message_publisher.h.

m_sbgShipMotion_pub_

ros::Publisher sbg::MessagePublisher::m_sbgShipMotion_pub_

private

Definition at line 54 of file message_publisher.h.

m_sbgStatus_pub_

ros::Publisher sbg::MessagePublisher::m_sbgStatus_pub_

private

Definition at line 48 of file message_publisher.h.

m_sbgUtcTime_pub_

ros::Publisher sbg::MessagePublisher::m_sbgUtcTime_pub_

private

Definition at line 49 of file message_publisher.h.

m_temp_pub_

ros::Publisher sbg::MessagePublisher::m_temp_pub_

private

Definition at line 76 of file message_publisher.h.

m_utc_reference_pub_

ros::Publisher sbg::MessagePublisher::m_utc_reference_pub_

private

Definition at line 81 of file message_publisher.h.

m_velocity_pub_

ros::Publisher sbg::MessagePublisher::m_velocity_pub_

private

Definition at line 80 of file message_publisher.h.

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

• message_publisher.h
• message_publisher.cpp