Class RawDataStreamPa

Defined in File raw_data_pa.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class RawDataStreamPa : public rclcpp::Node

Implements functions for raw data stream.

Public Functions

explicit RawDataStreamPa(bool is_ros_subscriber = false): Constructor. Initialises variables and the nodehandle.

void getRosParams(): Get the raw data stream parameters.

bool isEnabled(): Returns the if raw data streaming is enabled.

void initialize(): Initializes raw data streams If storing to file is enabled, the filename is created and the corresponding filedescriptor will be opened. If publishing ros messages is enabled, an empty msg will be published. (This will implicitly create the publisher)

void ubloxCallback(const unsigned char *data, std::size_t size)

Callback function which handles raw data.

Parameters:

data – the buffer of u-blox messages to process
size – the size of the buffer