Description

Publishes a ChGPSSensor as sensor_msgs/msg/NavSatFix.

The position covariance is approximated from a running mean in ENU space (the sensor emits none).

#include <ChROSGPSHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions
	ChROSGPSHandler (std::shared_ptr< chrono::sensor::ChGPSSensor > gps, const std::string &topic_name)
	Tick at the sensor's own update rate.

	ChROSGPSHandler (double update_rate, std::shared_ptr< chrono::sensor::ChGPSSensor > gps, const std::string &topic_name)
	Tick at an explicit rate.

virtual bool	Initialize (ChROSBridge &bridge) override
	Creates the NavSatFix publisher.

Protected Member Functions
virtual void	Tick (double time) override
	Reads the GPS buffer and publishes the fix with approximated covariance.

The documentation for this class was generated from the following files:

Public Member Functions