Class Gps

Nested Relationships

Nested Types

Class Documentation

class Gps

Handles communication with and configuration of the u-blox device.

Public Functions

explicit Gps(int debug, const rclcpp::Logger &logger)
~Gps()
Gps(Gps &&c) = delete
Gps &operator=(Gps &&c) = delete
Gps(const Gps &c) = delete
Gps &operator=(const Gps &c) = delete
inline void setSaveOnShutdown(bool save_on_shutdown)

If called, when the node shuts down, it will send a command to save the flash memory.

inline void setConfigOnStartup(bool config_on_startup)

Set the internal flag for enabling or disabling the initial configurations.

Parameters:

config_on_startup – boolean flag

void initializeTcp(const std::string &host, const std::string &port)

Initialize TCP I/O.

Parameters:

  • host – the TCP host

  • port – the TCP port

void initializeUdp(const std::string &host, const std::string &port)

Initialize UDP I/O.

Parameters:

  • host – the UDP host

  • port – the UDP port

void initializeSerial(const std::string &port, unsigned int baudrate, uint16_t uart_in, uint16_t uart_out)

Initialize the Serial I/O port.

Parameters:

  • port – the device port address

  • baudrate – the desired baud rate of the port

  • uart_in – the UART In protocol, see CfgPRT for options

  • uart_out – the UART Out protocol, see CfgPRT for options

void resetSerial(const std::string &port)

Reset the Serial I/O port after u-blox reset.

Parameters:

  • port – the device port address

  • baudrate – the desired baud rate of the port

  • uart_in – the UART In protocol, see CfgPRT for options

  • uart_out – the UART Out protocol, see CfgPRT for options

bool sendRtcm(const std::vector<uint8_t> &message)

Send rtcm correction messages to the connected device.

Parameters:

message – the RTCM correction data as a vector

void close()

Closes the I/O port, and initiates save on shutdown procedure if enabled.

void reset(const std::chrono::milliseconds &wait)

Reset I/O communications.

Parameters:

wait – Time to wait before restarting communications

bool configReset(uint16_t nav_bbr_mask, uint16_t reset_mode)

Send a reset message to the u-blox device.

Parameters:

  • nav_bbr_mask – The BBR sections to clear, see CfgRST message

  • reset_mode – The reset type, see CfgRST message

Returns:

true if the message was successfully sent, false otherwise

bool configGnss(ublox_msgs::msg::CfgGNSS gnss, const std::chrono::milliseconds &wait)

Configure the GNSS, cold reset the device, and reset the I/O.

Parameters:

  • gnss – the desired GNSS configuration

  • wait – the time to wait after resetting I/O before restarting

Returns:

true if the GNSS was configured, the device was reset, and the I/O reset successfully

bool clearBbr()

Send a message to the receiver to delete the BBR data stored in flash.

Returns:

true if sent message and received ACK, false otherwise

bool configUart1(unsigned int baudrate, uint16_t in_proto_mask, uint16_t out_proto_mask)

Configure the UART1 Port.

Parameters:

  • baudrate – the baudrate of the port

  • in_proto_mask – the in protocol mask, see CfgPRT message

  • out_proto_mask – the out protocol mask, see CfgPRT message

Returns:

true on ACK, false on other conditions.

bool disableUart1(ublox_msgs::msg::CfgPRT &prev_config)

Disable the UART Port. Sets in/out protocol masks to 0. Does not modify other values.

Parameters:

prev_cfg – an empty message which will be filled with the previous configuration parameters

Returns:

true on ACK, false on other conditions.

bool configUsb(uint16_t tx_ready, uint16_t in_proto_mask, uint16_t out_proto_mask)

Configure the USB Port.

Parameters:

  • tx_ready – the TX ready pin configuration, see CfgPRT message

  • in_proto_mask – the in protocol mask, see CfgPRT message

  • out_proto_mask – the out protocol mask, see CfgPRT message

Returns:

true on ACK, false on other conditions.

bool configRate(uint16_t meas_rate, uint16_t nav_rate)

Configure the device navigation and measurement rate settings.

Parameters:

  • meas_rate – Period in milliseconds between subsequent measurements.

  • nav_rate – the rate at which navigation solutions are generated by the receiver in number measurement cycles

Returns:

true on ACK, false on other conditions.

bool configRtcm(const std::vector<Rtcm> &rtcms)

Configure the RTCM messages with the given IDs to the set rate.

Parameters:

  • ids – the RTCM message ids, valid range: [0, 255]

  • rates – the send rates for each RTCM message ID, valid range: [0, 255]

Returns:

true on ACK, false on other conditions.

bool configSbas(bool enable, uint8_t usage, uint8_t max_sbas)

Configure the SBAS settings.

Parameters:

  • enable – If true, enable SBAS. Deprecated in firmware 8, use CfgGNSS instead.

  • usage – SBAS usage, see CfgSBAS for options

  • max_sbas – Maximum Number of SBAS prioritized tracking channels

Returns:

true on ACK, false on other conditions.

bool configTmode3Fixed(bool lla_flag, std::vector<double> arp_position, std::vector<int8_t> arp_position_hp, float fixed_pos_acc)

Set the TMODE3 settings to fixed.

Sets the at the given antenna reference point (ARP) position in either Latitude Longitude Altitude (LLA) or ECEF coordinates.

Parameters:

  • arp_position – a vector of size 3 representing the ARP position in ECEF coordinates [m] or LLA coordinates [deg]

  • arp_position_hp – a vector of size 3 a vector of size 3 representing the ARP position in ECEF coordinates [0.1 mm] or LLA coordinates [deg * 1e-9]

  • lla_flag – true if position is given in LAT/LON/ALT, false if ECEF

  • fixed_pos_acc – Fixed position 3D accuracy [m]

Returns:

true on ACK, false if settings are incorrect or on other conditions

bool configTmode3SurveyIn(unsigned int svin_min_dur, float svin_acc_limit)

Set the TMODE3 settings to survey-in.

Parameters:

  • svin_min_dur – Survey-in minimum duration [s]

  • svin_acc_limit – Survey-in position accuracy limit [m]

Returns:

true on ACK, false on other conditions.

bool disableTmode3()

Set the TMODE3 settings to disabled. Should only be called for High Precision GNSS devices, otherwise the device will return a NACK.

Returns:

true on ACK, false on other conditions.

bool setRate(uint8_t class_id, uint8_t message_id, uint8_t rate)

Set the rate at which the U-Blox device sends the given message.

Parameters:

  • class_id – the class identifier of the message

  • message_id – the message identifier

  • rate – the updated rate in Hz

Returns:

true on ACK, false on other conditions.

bool setDynamicModel(uint8_t model)

Set the device dynamic model.

Parameters:

model – Dynamic model to use. Consult ublox protocol spec for details.

Returns:

true on ACK, false on other conditions.

bool setFixMode(uint8_t mode)

Set the device fix mode.

Parameters:

mode – 2D only, 3D only or auto.

Returns:

true on ACK, false on other conditions.

bool setDeadReckonLimit(uint8_t limit)

Set the dead reckoning time limit.

Parameters:

limit – Time limit in seconds.

Returns:

true on ACK, false on other conditions.

bool setPpp(bool enable, float protocol_version)

Enable or disable PPP (precise-point-positioning).

Note

This is part of the expert settings. It is recommended you check the ublox manual first.

Parameters:

enable – If true, enable PPP.

Returns:

true on ACK, false on other conditions.

bool setDgnss(uint8_t mode)

Set the DGNSS mode (see CfgDGNSS message for details).

Parameters:

mode – the DGNSS mode (see CfgDGNSS message for options)

Returns:

true on ACK, false on other conditions

bool setUseAdr(bool enable, float protocol_version)

Enable or disable ADR (automotive dead reckoning).

Parameters:

enable – If true, enable ADR.

Returns:

true on ACK, false on other conditions.

bool setUTCtime()

Configure the U-Blox to UTC time.

Note

This is part of the expert settings. It is recommended you check the ublox manual first.

Returns:

true on ACK, false on other conditions.

bool setTimtm2(uint8_t rate)

Enable or disable TIM-TM2 (time mark message).

Note

This is part of the expert settings. It is recommended you check the ublox manual first.

Parameters:

enable – If true, enable TIM-TM2.

Returns:

true on ACK, false on other conditions.

template<typename T>
void subscribe(typename CallbackHandler_<T>::Callback callback, unsigned int rate)

Configure the U-Blox send rate of the message & subscribe to the given message.

Parameters:

  • the – callback handler for the message

  • rate – the rate in Hz of the message

template<typename T>
void subscribe(typename CallbackHandler_<T>::Callback callback)

Subscribe to the given Ublox message.

Parameters:

the – callback handler for the message

void subscribe_nmea(std::function<void(const std::string&)> callback)

Subscribe to the given Ublox message.

Parameters:

callback – the callback handler for the message

template<typename T>
void subscribeId(typename CallbackHandler_<T>::Callback callback, unsigned int message_id)

Subscribe to the message with the given ID. This is used for messages which have the same format but different message IDs, e.g. INF messages.

Parameters:

  • the – callback handler for the message

  • message_id – the U-Blox message ID

template<typename T>
bool read(T &message, const std::chrono::milliseconds &timeout = default_timeout_)

Read a u-blox message of the given type.

Parameters:

  • message – the received u-blox message

  • timeout – the amount of time to wait for the desired message

inline bool isInitialized() const
inline bool isConfigured() const
inline bool isOpen() const
template<typename ConfigT>
bool poll(ConfigT &message, const std::vector<uint8_t> &payload = std::vector<uint8_t>(), const std::chrono::milliseconds &timeout = default_timeout_)

Poll a u-blox message of the given type.

Parameters:

  • message – the received u-blox message output

  • payload – the poll message payload sent to the device defaults to empty

  • timeout – the amount of time to wait for the desired message

bool poll(uint8_t class_id, uint8_t message_id, const std::vector<uint8_t> &payload = std::vector<uint8_t>())

Poll a u-blox message.

Parameters:

  • class_id – the u-blox message class id

  • message_id – the u-blox message id

  • payload – the poll message payload sent to the device, defaults to empty

  • timeout – the amount of time to wait for the desired message

template<typename ConfigT>
bool configure(const ConfigT &message, bool wait = true)

Send the given configuration message.

Parameters:

  • message – the configuration message

  • wait – if true, wait for an ACK

Returns:

true if message sent successfully and either ACK was received or wait was set to false

bool waitForAcknowledge(const std::chrono::milliseconds &timeout, uint8_t class_id, uint8_t msg_id)

Wait for an acknowledge message until the timeout.

Parameters:

  • timeout – maximum time to wait in seconds

  • class_id – the expected class ID of the ACK

  • msg_id – the expected message ID of the ACK

Returns:

true if expected ACK received, false otherwise

void setRawDataCallback(const Worker::WorkerRawCallback &callback)

Set the callback function which handles raw data.

Parameters:

callback – the write callback which handles raw data

Public Members

const int kSetBaudrateSleepMs = 500

Sleep time [ms] after setting the baudrate.

Public Static Attributes

static constexpr double kDefaultAckTimeout = 1.0

Default timeout for ACK messages in seconds.

static constexpr int kWriterSize = 2056

Size of write buffer for output messages.