Class UbloxFirmware6

Defined in File ublox_firmware6.hpp

Inheritance Relationships

Base Type

public ublox_node::UbloxFirmware (Class UbloxFirmware)

Class Documentation

class UbloxFirmware6 : public ublox_node::UbloxFirmware 

Implements functions for firmware version 6.

Public Functions

explicit UbloxFirmware6(const std::string &frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<FixDiagnostic> freq_diag, std::shared_ptr<Gnss> gnss, rclcpp::Node *node)

virtual void getRosParams() override: Sets the fix status service type to GPS.

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

Prints a warning, GNSS configuration not available in this version.

Returns:: true if configured correctly, false otherwise

virtual void subscribe(std::shared_ptr<ublox_gps::Gps> gps) override: Subscribe to NavPVT, RxmRAW, and RxmSFRB messages.

Protected Functions

virtual void fixDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &stat) override: Updates fix diagnostic from NavPOSLLH, NavVELNED, and NavSOL messages.