adapted to new subscriber API

src/subscriber_gnss.cpp

@@ -42,7 +42,7 @@ void SubscriberGnss::initialize(ros::NodeHandle& nh, const std::string& topic)
 
 void SubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
 {
-    setLastStamp(msg->header.stamp);
+    updateLastHeader(msg->header);
 
     ROS_DEBUG("callbackObs!");
     if (last_nav_ptr_==nullptr)

src/subscriber_gnss_fix.cpp

@@ -49,7 +49,7 @@ void SubscriberGnssFix::initialize(ros::NodeHandle& nh, const std::string& topic
 
 void SubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg)
 {
-    setLastStamp(msg->header.stamp);
+    updateLastHeader(msg->header);
 
     if (cov_mode_ == "msg" or cov_mode_ == "factor")
         cov_ = cov_factor_ * Eigen::Map<const Eigen::Matrix3d>(msg->position_covariance.data());

src/subscriber_gnss_fix_novatel_publisher_ecef.cpp

@@ -44,7 +44,7 @@ void SubscriberGnssFixNovatelPublisherEcef::initialize(ros::NodeHandle& nh, cons
 
 void SubscriberGnssFixNovatelPublisherEcef::callback(const novatel_oem7_msgs::BESTPOS::ConstPtr& _msg)
 {
-    setLastStamp(_msg->header.stamp);
+    updateLastHeader(_msg->header);
 
     computeAndPublish(Eigen::Vector3d(_msg->lat * M_PI / 180.0,
                                       _msg->lon * M_PI / 180.0,

src/subscriber_gnss_fix_publisher_ecef.cpp

@@ -77,7 +77,7 @@ void SubscriberGnssFixPublisherEcef::initialize(ros::NodeHandle& nh, const std::
 
 void SubscriberGnssFixPublisherEcef::callback(const sensor_msgs::NavSatFix::ConstPtr& _msg)
 {
-    setLastStamp(_msg->header.stamp);
+    updateLastHeader(_msg->header);
 
     computeAndPublish(Eigen::Vector3d(_msg->latitude * M_PI / 180.0,
                                       _msg->longitude * M_PI / 180.0,

src/subscriber_gnss_novatel.cpp

@@ -44,7 +44,7 @@ void SubscriberGnssNovatel::initialize(ros::NodeHandle& nh, const std::string& t
 
 void SubscriberGnssNovatel::callback(const novatel_oem7_msgs::Oem7RawMsg& msg)
 {
-    setLastStamp(msg.header.stamp);
+    updateLastHeader(msg.header);
 
     GnssUtils::RawDataType res = receiver_->addDataStream(msg.message_data);
 

src/subscriber_gnss_ublox.cpp

@@ -58,9 +58,11 @@ void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
 {
     ROS_DEBUG("SubscriberGnssUblox::callback message received!");
 
-    auto stamp = ros::Time::now();
-    setLastStamp(stamp);
+    std_msgs::Header header;
+    header.stamp = ros::Time::now();
     n_msgs_++;
+    header.seq = n_msgs_;
+    updateLastHeader(header);
 
     GnssUtils::RawDataType res = receiver_->addDataStream(msg.data);
 
@@ -70,7 +72,7 @@ void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
     if (res == GnssUtils::OBS)
     {
         //ROS_INFO("Observation received!");
-        createCaptureAndProcess(stamp);
+        createCaptureAndProcess(header.stamp);
     }
 }