Class AdrUdrProduct

• Defined in File adr_udr_product.hpp

Inheritance Relationships

Base Type

• public ublox_node::ComponentInterface (Class ComponentInterface)

Class Documentation

class AdrUdrProduct : public virtual ublox_node::ComponentInterface

Implements functions for Automotive Dead Reckoning (ADR) and Untethered Dead Reckoning (UDR) Devices.

Public Functions

explicit AdrUdrProduct(float protocol_version, uint16_t nav_rate, uint16_t meas_rate, const std::string &frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node *node)

virtual void getRosParams() override

Get the ADR/UDR parameters.

Get the use_adr parameter and check that the nav_rate is 1 Hz.

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

Configure ADR/UDR settings.

Configure the use_adr setting.

Returns:

true if configured correctly, false otherwise

inline virtual void initializeRosDiagnostics() override

Initialize the ROS diagnostics for the ADR/UDR device.

Todo:

unimplemented

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

Subscribe to ADR/UDR messages.

Subscribe to NavATT, ESF and HNR messages based on user parameters.