Class UbloxFirmware

• Defined in File ublox_firmware.hpp

Inheritance Relationships

Base Type

• public ublox_node::ComponentInterface (Class ComponentInterface)

Derived Types

• public ublox_node::UbloxFirmware7Plus< ublox_msgs::msg::NavPVT7 > (Template Class UbloxFirmware7Plus)

• public ublox_node::UbloxFirmware7Plus< ublox_msgs::msg::NavPVT > (Template Class UbloxFirmware7Plus)

• public ublox_node::UbloxFirmware6 (Class UbloxFirmware6)

• public ublox_node::UbloxFirmware7Plus< NavPVT > (Template Class UbloxFirmware7Plus)

Class Documentation

class UbloxFirmware : public virtual ublox_node::ComponentInterface

This abstract class represents a firmware component.

The Firmware components update the fix diagnostics.

Subclassed by ublox_node::UbloxFirmware7Plus< ublox_msgs::msg::NavPVT7 >, ublox_node::UbloxFirmware7Plus< ublox_msgs::msg::NavPVT >, ublox_node::UbloxFirmware6, ublox_node::UbloxFirmware7Plus< NavPVT >

Public Functions

explicit UbloxFirmware(std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<Gnss> gnss, rclcpp::Node *node)

virtual void initializeRosDiagnostics() override

Add the fix diagnostics to the updater.

Public Static Attributes

static constexpr uint32_t kNavSvInfoSubscribeRate = 20

Subscribe Rate for u-blox SV Info messages.

Protected Functions

virtual void fixDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &stat) = 0

Handle to send fix status to ROS diagnostics.

Protected Attributes

std::shared_ptr<diagnostic_updater::Updater> updater_

std::shared_ptr<Gnss> gnss_

int fix_status_service_ = {0}

The fix status service type, set in the Firmware Component based on the enabled GNSS

rclcpp::Node *node_