Class RawDataProduct

• Defined in File raw_data_product.hpp

Inheritance Relationships

Base Type

• public ublox_node::ComponentInterface (Class ComponentInterface)

Class Documentation

class RawDataProduct : public virtual ublox_node::ComponentInterface

Implements functions for Raw Data products.

Public Functions

explicit RawDataProduct(uint16_t nav_rate, uint16_t meas_rate, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node *node)

inline virtual void getRosParams() override

Does nothing since there are no Raw Data product specific settings.

inline virtual bool configureUblox(std::shared_ptr<ublox_gps::Gps> gps) override

Does nothing since there are no Raw Data product specific settings.

Returns:

always returns true

virtual void initializeRosDiagnostics() override

Adds frequency diagnostics for RTCM topics.

virtual void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override

Subscribe to Raw Data Product messages and set up ROS publishers.

Subscribe to RxmALM, RxmEPH, RxmRAW, and RxmSFRB messages.

Public Members

const double kRtcmFreqTol = 0.15

const int kRtcmFreqWindow = 25