#include <navsat_transform.h>

Public Member Functions
	NavSatTransform (ros::NodeHandle nh, ros::NodeHandle nh_priv)
	Constructor. More...

	~NavSatTransform ()
	Destructor. More...

Private Member Functions
nav_msgs::Odometry	cartesianToMap (const tf2::Transform &cartesian_pose) const
	Transforms the passed in pose from utm to map frame. More...

void	computeTransform ()
	Computes the transform from the UTM frame to the odom frame. More...

bool	datumCallback (robot_localization::SetDatum::Request &request, robot_localization::SetDatum::Response &)
	Callback for the datum service. More...

bool	fromLLCallback (robot_localization::FromLL::Request &request, robot_localization::FromLL::Response &response)
	Callback for the from Lat Long service. More...

void	getRobotOriginCartesianPose (const tf2::Transform &gps_cartesian_pose, tf2::Transform &robot_cartesian_pose, const ros::Time &transform_time)
	Given the pose of the navsat sensor in the cartesian frame, removes the offset from the vehicle's centroid and returns the cartesian-frame pose of said centroid. More...

void	getRobotOriginWorldPose (const tf2::Transform &gps_odom_pose, tf2::Transform &robot_odom_pose, const ros::Time &transform_time)
	Given the pose of the navsat sensor in the world frame, removes the offset from the vehicle's centroid and returns the world-frame pose of said centroid. More...

void	gpsFixCallback (const sensor_msgs::NavSatFixConstPtr &msg)
	Callback for the GPS fix data. More...

void	imuCallback (const sensor_msgs::ImuConstPtr &msg)
	Callback for the IMU data. More...

void	mapToLL (const tf2::Vector3 &point, double &latitude, double &longitude, double &altitude) const
	Transforms the passed in point from map frame to lat/long. More...

void	odomCallback (const nav_msgs::OdometryConstPtr &msg)
	Callback for the odom data. More...

void	periodicUpdate (const ros::TimerEvent &event)
	callback function which is called for periodic updates More...

bool	prepareFilteredGps (sensor_msgs::NavSatFix &filtered_gps)
	Converts the odometry data back to GPS and broadcasts it. More...

bool	prepareGpsOdometry (nav_msgs::Odometry &gps_odom)
	Prepares the GPS odometry message before sending. More...

void	setTransformGps (const sensor_msgs::NavSatFixConstPtr &msg)
	Used for setting the GPS data that will be used to compute the transform. More...

void	setTransformOdometry (const nav_msgs::OdometryConstPtr &msg)
	Used for setting the odometry data that will be used to compute the transform. More...

bool	setUTMZoneCallback (robot_localization::SetUTMZone::Request &request, robot_localization::SetUTMZone::Response &response)
	Callback for the UTM zone service. More...

bool	toLLCallback (robot_localization::ToLL::Request &request, robot_localization::ToLL::Response &response)
	Callback for the to Lat Long service. More...

Private Attributes
std::string	base_link_frame_id_
	Frame ID of the robot's body frame. More...

bool	broadcast_cartesian_transform_
	Whether or not we broadcast the cartesian transform. More...

bool	broadcast_cartesian_transform_as_parent_frame_
	Whether to broadcast the cartesian transform as parent frame, default as child. More...

tf2_ros::StaticTransformBroadcaster	cartesian_broadcaster_
	Used for publishing the static world_frame->cartesian transform. More...

std::string	cartesian_frame_id_
	The cartesian frame ID, default as 'local_enu' if using Local Cartesian or 'utm' if using the UTM coordinates as our cartesian. More...

tf2::Transform	cartesian_world_trans_inverse_
	Holds the odom->UTM transform for filtered GPS broadcast. More...

tf2::Transform	cartesian_world_transform_
	Holds the Cartesian->odom transform. More...

ros::ServiceServer	datum_srv_
	Service for set datum. More...

ros::Publisher	filtered_gps_pub_
	Publiser for filtered gps data. More...

bool	force_user_utm_
	Whether we want to force the user's UTM zone and not rely on current GPS data for determining it. More...

ros::ServiceServer	from_ll_srv_
	Service for from Lat Long. More...

std::string	gps_frame_id_
	The frame_id of the GPS message (specifies mounting location) More...

GeographicLib::LocalCartesian	gps_local_cartesian_
	Local Cartesian projection around gps origin. More...

ros::Publisher	gps_odom_pub_
	Publisher for gps data. More...

ros::Subscriber	gps_sub_
	GPS subscriber. More...

ros::Time	gps_update_time_
	Timestamp of the latest good GPS message. More...

bool	gps_updated_
	Whether or not we have new GPS data. More...

bool	has_transform_gps_
	Whether or not the GPS fix is usable. More...

bool	has_transform_imu_
	Signifies that we have received a usable IMU message. More...

bool	has_transform_odom_
	Signifies that we have received a usable odometry message. More...

ros::Subscriber	imu_sub_
	Subscribes to imu topic. More...

Eigen::MatrixXd	latest_cartesian_covariance_
	Covariance for most recent GPS/UTM/LocalCartesian data. More...

tf2::Transform	latest_cartesian_pose_
	Latest GPS data, stored as Cartesian coords. More...

Eigen::MatrixXd	latest_odom_covariance_
	Covariance for most recent odometry data. More...

tf2::Transform	latest_world_pose_
	Latest odometry pose data. More...

double	magnetic_declination_
	Parameter that specifies the magnetic declination for the robot's environment. More...

bool	northp_
	hemisphere (true means north, false means south) More...

ros::Subscriber	odom_sub_
	Odometry subscriber. More...

ros::Time	odom_update_time_
	Timestamp of the latest good odometry message. More...

bool	odom_updated_
	Whether or not we have new odometry data. More...

ros::Timer	periodicUpdateTimer_
	timer calling periodicUpdate More...

bool	publish_gps_
	Whether or not we publish filtered GPS messages. More...

ros::ServiceServer	set_utm_zone_srv_
	Service for set UTM zone. More...

tf2_ros::Buffer	tf_buffer_
	Transform buffer for managing coordinate transforms. More...

tf2_ros::TransformListener	tf_listener_
	Transform listener for receiving transforms. More...

bool	tf_silent_failure_
	When true, do not print warnings for tf lookup failures. More...

ros::ServiceServer	to_ll_srv_
	Service for to Lat Long. More...

tf2::Transform	transform_cartesian_pose_
	Holds the cartesian (UTM or local ENU) pose that is used to compute the transform. More...

bool	transform_good_
	Whether or not we've computed a good heading. More...

tf2::Quaternion	transform_orientation_
	Latest IMU orientation. More...

ros::Duration	transform_timeout_
	Parameter that specifies the how long we wait for a transform to become available. More...

tf2::Transform	transform_world_pose_
	Latest IMU orientation. More...

bool	use_local_cartesian_
	Whether we use a Local Cartesian (tangent plane ENU) or the UTM coordinates as our cartesian. More...

bool	use_manual_datum_
	Whether we get our datum from the first GPS message or from the set_datum service/parameter. More...

bool	use_odometry_yaw_
	Whether we get the transform's yaw from the odometry or IMU source. More...

double	utm_meridian_convergence_
	UTM's meridian convergence. More...

int	utm_zone_
	the UTM zone (zero means UPS) More...

std::string	world_frame_id_
	Frame ID of the GPS odometry output. More...

double	yaw_offset_
	IMU's yaw offset. More...

bool	zero_altitude_
	Whether or not to report 0 altitude. More...

Detailed Description

Definition at line 64 of file navsat_transform.h.

Constructor & Destructor Documentation

◆ NavSatTransform()

RobotLocalization::NavSatTransform::NavSatTransform	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_priv
	)

Constructor.

Definition at line 46 of file navsat_transform.cpp.

◆ ~NavSatTransform()

RobotLocalization::NavSatTransform::~NavSatTransform ( )

Destructor.

Definition at line 200 of file navsat_transform.cpp.

Member Function Documentation

◆ cartesianToMap()

nav_msgs::Odometry RobotLocalization::NavSatTransform::cartesianToMap ( const tf2::Transform & cartesian_pose ) const

private

Transforms the passed in pose from utm to map frame.

Parameters

[in] cartesian_pose the pose in cartesian frame to use to transform

Definition at line 465 of file navsat_transform.cpp.

◆ computeTransform()

void RobotLocalization::NavSatTransform::computeTransform ( )

private

Computes the transform from the UTM frame to the odom frame.

Definition at line 236 of file navsat_transform.cpp.

◆ datumCallback()

bool RobotLocalization::NavSatTransform::datumCallback	(	robot_localization::SetDatum::Request &	request,
		robot_localization::SetDatum::Response &
	)

private

Callback for the datum service.

Definition at line 342 of file navsat_transform.cpp.

◆ fromLLCallback()

bool RobotLocalization::NavSatTransform::fromLLCallback	(	robot_localization::FromLL::Request &	request,
		robot_localization::FromLL::Response &	response
	)

private

Callback for the from Lat Long service.

Definition at line 401 of file navsat_transform.cpp.

◆ getRobotOriginCartesianPose()

void RobotLocalization::NavSatTransform::getRobotOriginCartesianPose	(	const tf2::Transform &	gps_cartesian_pose,
		tf2::Transform &	robot_cartesian_pose,
		const ros::Time &	transform_time
	)

private

Given the pose of the navsat sensor in the cartesian frame, removes the offset from the vehicle's centroid and returns the cartesian-frame pose of said centroid.

Definition at line 519 of file navsat_transform.cpp.

◆ getRobotOriginWorldPose()

void RobotLocalization::NavSatTransform::getRobotOriginWorldPose	(	const tf2::Transform &	gps_odom_pose,
		tf2::Transform &	robot_odom_pose,
		const ros::Time &	transform_time
	)

private

Given the pose of the navsat sensor in the world frame, removes the offset from the vehicle's centroid and returns the world-frame pose of said centroid.

Definition at line 570 of file navsat_transform.cpp.

◆ gpsFixCallback()

void RobotLocalization::NavSatTransform::gpsFixCallback ( const sensor_msgs::NavSatFixConstPtr & msg )

private

Callback for the GPS fix data.

Parameters

[in] msg The NavSatFix message to process

Definition at line 618 of file navsat_transform.cpp.

◆ imuCallback()

void RobotLocalization::NavSatTransform::imuCallback ( const sensor_msgs::ImuConstPtr & msg )

private

Callback for the IMU data.

Parameters

[in] msg The IMU message to process

Definition at line 684 of file navsat_transform.cpp.

◆ mapToLL()

void RobotLocalization::NavSatTransform::mapToLL	(	const tf2::Vector3 &	point,
		double &	latitude,
		double &	longitude,
		double &	altitude
	)		const

private

Transforms the passed in point from map frame to lat/long.

Parameters

[in] point the point in map frame to use to transform

Definition at line 485 of file navsat_transform.cpp.

◆ odomCallback()

void RobotLocalization::NavSatTransform::odomCallback ( const nav_msgs::OdometryConstPtr & msg )

private

Callback for the odom data.

Parameters

[in] msg The odometry message to process

Definition at line 740 of file navsat_transform.cpp.

◆ periodicUpdate()

void RobotLocalization::NavSatTransform::periodicUpdate ( const ros::TimerEvent & event )

private

callback function which is called for periodic updates

Definition at line 205 of file navsat_transform.cpp.

◆ prepareFilteredGps()

bool RobotLocalization::NavSatTransform::prepareFilteredGps ( sensor_msgs::NavSatFix & filtered_gps )

private

Converts the odometry data back to GPS and broadcasts it.

Parameters

[out] filtered_gps The NavSatFix message to prepare

Definition at line 765 of file navsat_transform.cpp.

◆ prepareGpsOdometry()

bool RobotLocalization::NavSatTransform::prepareGpsOdometry ( nav_msgs::Odometry & gps_odom )

private

Prepares the GPS odometry message before sending.

Parameters

[out] gps_odom The odometry message to prepare

Definition at line 813 of file navsat_transform.cpp.

◆ setTransformGps()

void RobotLocalization::NavSatTransform::setTransformGps ( const sensor_msgs::NavSatFixConstPtr & msg )

private

Used for setting the GPS data that will be used to compute the transform.

Parameters

[in] msg The NavSatFix message to use in the transform

Definition at line 867 of file navsat_transform.cpp.

◆ setTransformOdometry()

void RobotLocalization::NavSatTransform::setTransformOdometry ( const nav_msgs::OdometryConstPtr & msg )

private

Used for setting the odometry data that will be used to compute the transform.

Parameters

[in] msg The odometry message to use in the transform

Definition at line 910 of file navsat_transform.cpp.

◆ setUTMZoneCallback()

bool RobotLocalization::NavSatTransform::setUTMZoneCallback	(	robot_localization::SetUTMZone::Request &	request,
		robot_localization::SetUTMZone::Response &	response
	)

private

Callback for the UTM zone service.

Definition at line 448 of file navsat_transform.cpp.

◆ toLLCallback()

bool RobotLocalization::NavSatTransform::toLLCallback	(	robot_localization::ToLL::Request &	request,
		robot_localization::ToLL::Response &	response
	)

private

Callback for the to Lat Long service.

Definition at line 386 of file navsat_transform.cpp.

Member Data Documentation

◆ base_link_frame_id_

std::string RobotLocalization::NavSatTransform::base_link_frame_id_

private

Frame ID of the robot's body frame.

This is needed for obtaining transforms from the robot's body frame to the frames of sensors (IMU and GPS)

Definition at line 254 of file navsat_transform.h.

◆ broadcast_cartesian_transform_

bool RobotLocalization::NavSatTransform::broadcast_cartesian_transform_

private

Whether or not we broadcast the cartesian transform.

Definition at line 162 of file navsat_transform.h.

◆ broadcast_cartesian_transform_as_parent_frame_

bool RobotLocalization::NavSatTransform::broadcast_cartesian_transform_as_parent_frame_

private

Whether to broadcast the cartesian transform as parent frame, default as child.

Definition at line 166 of file navsat_transform.h.

◆ cartesian_broadcaster_

tf2_ros::StaticTransformBroadcaster RobotLocalization::NavSatTransform::cartesian_broadcaster_

private

Used for publishing the static world_frame->cartesian transform.

Definition at line 381 of file navsat_transform.h.

◆ cartesian_frame_id_

std::string RobotLocalization::NavSatTransform::cartesian_frame_id_

private

The cartesian frame ID, default as 'local_enu' if using Local Cartesian or 'utm' if using the UTM coordinates as our cartesian.

Definition at line 259 of file navsat_transform.h.

◆ cartesian_world_trans_inverse_

tf2::Transform RobotLocalization::NavSatTransform::cartesian_world_trans_inverse_

private

Holds the odom->UTM transform for filtered GPS broadcast.

Definition at line 333 of file navsat_transform.h.

◆ cartesian_world_transform_

tf2::Transform RobotLocalization::NavSatTransform::cartesian_world_transform_

private

Holds the Cartesian->odom transform.

Definition at line 329 of file navsat_transform.h.

◆ datum_srv_

ros::ServiceServer RobotLocalization::NavSatTransform::datum_srv_

private

Service for set datum.

Definition at line 357 of file navsat_transform.h.

◆ filtered_gps_pub_

ros::Publisher RobotLocalization::NavSatTransform::filtered_gps_pub_

private

Publiser for filtered gps data.

Definition at line 337 of file navsat_transform.h.

◆ force_user_utm_

bool RobotLocalization::NavSatTransform::force_user_utm_

private

Whether we want to force the user's UTM zone and not rely on current GPS data for determining it.

Definition at line 215 of file navsat_transform.h.

◆ from_ll_srv_

ros::ServiceServer RobotLocalization::NavSatTransform::from_ll_srv_

private

Service for from Lat Long.

Definition at line 365 of file navsat_transform.h.

◆ gps_frame_id_

std::string RobotLocalization::NavSatTransform::gps_frame_id_

private

The frame_id of the GPS message (specifies mounting location)

Definition at line 263 of file navsat_transform.h.

◆ gps_local_cartesian_

GeographicLib::LocalCartesian RobotLocalization::NavSatTransform::gps_local_cartesian_

private

Local Cartesian projection around gps origin.

Definition at line 223 of file navsat_transform.h.

◆ gps_odom_pub_

ros::Publisher RobotLocalization::NavSatTransform::gps_odom_pub_

private

Publisher for gps data.

Definition at line 353 of file navsat_transform.h.

◆ gps_sub_

ros::Subscriber RobotLocalization::NavSatTransform::gps_sub_

private

GPS subscriber.

Definition at line 341 of file navsat_transform.h.

◆ gps_update_time_

ros::Time RobotLocalization::NavSatTransform::gps_update_time_

private

Timestamp of the latest good GPS message.

We assign this value to the timestamp of the odometry message that we output

Definition at line 291 of file navsat_transform.h.

◆ gps_updated_

bool RobotLocalization::NavSatTransform::gps_updated_

private

Whether or not we have new GPS data.

We only want to compute and broadcast our transformed GPS data if it's new. This variable keeps track of that.

Definition at line 172 of file navsat_transform.h.

◆ has_transform_gps_

bool RobotLocalization::NavSatTransform::has_transform_gps_

private

Whether or not the GPS fix is usable.

Definition at line 176 of file navsat_transform.h.

◆ has_transform_imu_

bool RobotLocalization::NavSatTransform::has_transform_imu_

private

Signifies that we have received a usable IMU message.

Definition at line 180 of file navsat_transform.h.

◆ has_transform_odom_

bool RobotLocalization::NavSatTransform::has_transform_odom_

private

Signifies that we have received a usable odometry message.

Definition at line 184 of file navsat_transform.h.

◆ imu_sub_

ros::Subscriber RobotLocalization::NavSatTransform::imu_sub_

private

Subscribes to imu topic.

Definition at line 345 of file navsat_transform.h.

◆ latest_cartesian_covariance_

Eigen::MatrixXd RobotLocalization::NavSatTransform::latest_cartesian_covariance_

private

Covariance for most recent GPS/UTM/LocalCartesian data.

Definition at line 285 of file navsat_transform.h.

◆ latest_cartesian_pose_

tf2::Transform RobotLocalization::NavSatTransform::latest_cartesian_pose_

private

Latest GPS data, stored as Cartesian coords.

Definition at line 313 of file navsat_transform.h.

◆ latest_odom_covariance_

Eigen::MatrixXd RobotLocalization::NavSatTransform::latest_odom_covariance_

private

Covariance for most recent odometry data.

Definition at line 281 of file navsat_transform.h.

◆ latest_world_pose_

tf2::Transform RobotLocalization::NavSatTransform::latest_world_pose_

private

Latest odometry pose data.

Definition at line 317 of file navsat_transform.h.

◆ magnetic_declination_

double RobotLocalization::NavSatTransform::magnetic_declination_

private

Parameter that specifies the magnetic declination for the robot's environment.

Definition at line 233 of file navsat_transform.h.

◆ northp_

bool RobotLocalization::NavSatTransform::northp_

private

hemisphere (true means north, false means south)

Definition at line 271 of file navsat_transform.h.

◆ odom_sub_

ros::Subscriber RobotLocalization::NavSatTransform::odom_sub_

private

Odometry subscriber.

Definition at line 349 of file navsat_transform.h.

◆ odom_update_time_

ros::Time RobotLocalization::NavSatTransform::odom_update_time_

private

Timestamp of the latest good odometry message.

We assign this value to the timestamp of the odometry message that we output

Definition at line 297 of file navsat_transform.h.

◆ odom_updated_

bool RobotLocalization::NavSatTransform::odom_updated_

private

Whether or not we have new odometry data.

If we're creating filtered GPS messages, then we only want to broadcast them when new odometry data arrives.

Definition at line 190 of file navsat_transform.h.

◆ periodicUpdateTimer_

ros::Timer RobotLocalization::NavSatTransform::periodicUpdateTimer_

private

timer calling periodicUpdate

Definition at line 305 of file navsat_transform.h.

◆ publish_gps_

bool RobotLocalization::NavSatTransform::publish_gps_

private

Whether or not we publish filtered GPS messages.

Definition at line 194 of file navsat_transform.h.

◆ set_utm_zone_srv_

ros::ServiceServer RobotLocalization::NavSatTransform::set_utm_zone_srv_

private

Service for set UTM zone.

Definition at line 369 of file navsat_transform.h.

◆ tf_buffer_

tf2_ros::Buffer RobotLocalization::NavSatTransform::tf_buffer_

private

Transform buffer for managing coordinate transforms.

Definition at line 373 of file navsat_transform.h.

◆ tf_listener_

tf2_ros::TransformListener RobotLocalization::NavSatTransform::tf_listener_

private

Transform listener for receiving transforms.

Definition at line 377 of file navsat_transform.h.

◆ tf_silent_failure_

bool RobotLocalization::NavSatTransform::tf_silent_failure_

private

When true, do not print warnings for tf lookup failures.

Definition at line 219 of file navsat_transform.h.

◆ to_ll_srv_

ros::ServiceServer RobotLocalization::NavSatTransform::to_ll_srv_

private

Service for to Lat Long.

Definition at line 361 of file navsat_transform.h.

◆ transform_cartesian_pose_

tf2::Transform RobotLocalization::NavSatTransform::transform_cartesian_pose_

private

Holds the cartesian (UTM or local ENU) pose that is used to compute the transform.

Definition at line 321 of file navsat_transform.h.

◆ transform_good_

bool RobotLocalization::NavSatTransform::transform_good_

private

Whether or not we've computed a good heading.

Definition at line 198 of file navsat_transform.h.

◆ transform_orientation_

tf2::Quaternion RobotLocalization::NavSatTransform::transform_orientation_

private

Latest IMU orientation.

Definition at line 309 of file navsat_transform.h.

◆ transform_timeout_

ros::Duration RobotLocalization::NavSatTransform::transform_timeout_

private

Parameter that specifies the how long we wait for a transform to become available.

Definition at line 301 of file navsat_transform.h.

◆ transform_world_pose_

tf2::Transform RobotLocalization::NavSatTransform::transform_world_pose_

private

Latest IMU orientation.

Definition at line 325 of file navsat_transform.h.

◆ use_local_cartesian_

bool RobotLocalization::NavSatTransform::use_local_cartesian_

private

Whether we use a Local Cartesian (tangent plane ENU) or the UTM coordinates as our cartesian.

Definition at line 211 of file navsat_transform.h.

◆ use_manual_datum_

bool RobotLocalization::NavSatTransform::use_manual_datum_

private

Whether we get our datum from the first GPS message or from the set_datum service/parameter.

Definition at line 203 of file navsat_transform.h.

◆ use_odometry_yaw_

bool RobotLocalization::NavSatTransform::use_odometry_yaw_

private

Whether we get the transform's yaw from the odometry or IMU source.

Definition at line 207 of file navsat_transform.h.

◆ utm_meridian_convergence_

double RobotLocalization::NavSatTransform::utm_meridian_convergence_

private

UTM's meridian convergence.

Angle between projected meridian (True North) and UTM's grid Y-axis. For UTM projection (Ellipsoidal Transverse Mercator) it is zero on the equator and non-zero everywhere else. It increases as the poles are approached or as we're getting farther from central meridian.

Definition at line 241 of file navsat_transform.h.

◆ utm_zone_

int RobotLocalization::NavSatTransform::utm_zone_

private

the UTM zone (zero means UPS)

Definition at line 267 of file navsat_transform.h.

◆ world_frame_id_

std::string RobotLocalization::NavSatTransform::world_frame_id_

private

Frame ID of the GPS odometry output.

This will just match whatever your odometry message has

Definition at line 277 of file navsat_transform.h.

◆ yaw_offset_

double RobotLocalization::NavSatTransform::yaw_offset_

private

IMU's yaw offset.

Your IMU should read 0 when facing magnetic north. If it doesn't, this (parameterized) value gives the offset (NOTE: if you have a magenetic declination, use the parameter setting for that).

Definition at line 248 of file navsat_transform.h.

◆ zero_altitude_

bool RobotLocalization::NavSatTransform::zero_altitude_

private

Whether or not to report 0 altitude.

If this parameter is true, we always report 0 for the altitude of the converted GPS odometry message.

Definition at line 229 of file navsat_transform.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ NavSatTransform()

◆ ~NavSatTransform()

Member Function Documentation

◆ cartesianToMap()

◆ computeTransform()

◆ datumCallback()

◆ fromLLCallback()

◆ getRobotOriginCartesianPose()

◆ getRobotOriginWorldPose()

◆ gpsFixCallback()

◆ imuCallback()

◆ mapToLL()

◆ odomCallback()

◆ periodicUpdate()

◆ prepareFilteredGps()

◆ prepareGpsOdometry()

◆ setTransformGps()

◆ setTransformOdometry()

◆ setUTMZoneCallback()

◆ toLLCallback()

Member Data Documentation

◆ base_link_frame_id_

◆ broadcast_cartesian_transform_

◆ broadcast_cartesian_transform_as_parent_frame_

◆ cartesian_broadcaster_

◆ cartesian_frame_id_

◆ cartesian_world_trans_inverse_

◆ cartesian_world_transform_

◆ datum_srv_

◆ filtered_gps_pub_

◆ force_user_utm_

◆ from_ll_srv_

◆ gps_frame_id_

◆ gps_local_cartesian_

◆ gps_odom_pub_

◆ gps_sub_

◆ gps_update_time_

◆ gps_updated_

◆ has_transform_gps_

◆ has_transform_imu_

◆ has_transform_odom_

◆ imu_sub_

◆ latest_cartesian_covariance_

◆ latest_cartesian_pose_

◆ latest_odom_covariance_

◆ latest_world_pose_

◆ magnetic_declination_

◆ northp_

◆ odom_sub_

◆ odom_update_time_

◆ odom_updated_

◆ periodicUpdateTimer_

◆ publish_gps_

◆ set_utm_zone_srv_

◆ tf_buffer_

◆ tf_listener_

◆ tf_silent_failure_

◆ to_ll_srv_

◆ transform_cartesian_pose_

◆ transform_good_

◆ transform_orientation_

◆ transform_timeout_

◆ transform_world_pose_

◆ use_local_cartesian_

◆ use_manual_datum_

◆ use_odometry_yaw_

◆ utm_meridian_convergence_

◆ utm_zone_

◆ world_frame_id_

◆ yaw_offset_

◆ zero_altitude_