Class UbloxFirmware7

• Defined in File ublox_firmware7.hpp

Inheritance Relationships

Base Type

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

Class Documentation

class UbloxFirmware7 : public ublox_node::UbloxFirmware7Plus<ublox_msgs::msg::NavPVT7>

Implements functions for firmware version 7.

Public Functions

inline explicit UbloxFirmware7(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

Get the parameters specific to firmware version 7.

Get the GNSS and NMEA settings.

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

Configure GNSS individually. Only configures GLONASS.

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

Subscribe to messages which are not generic to all firmware.

Subscribe to NavPVT7 messages, RxmRAW, and RxmSFRB messages.