From 0e6c961dc97c092bc69f25de475f6bb6db6eb0f6 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 26 Mar 2020 12:34:43 +0100
Subject: [PATCH] working
---
src/wolf_subscriber_gnss_ublox.cpp | 17 ++++++++---------
1 file changed, 8 insertions(+), 9 deletions(-)
diff --git a/src/wolf_subscriber_gnss_ublox.cpp b/src/wolf_subscriber_gnss_ublox.cpp
index c0755c8..58d304b 100644
--- a/src/wolf_subscriber_gnss_ublox.cpp
+++ b/src/wolf_subscriber_gnss_ublox.cpp
@@ -11,25 +11,24 @@ WolfSubscriberGnssUblox::WolfSubscriberGnssUblox(const SensorBasePtr& sensor_ptr
void WolfSubscriberGnssUblox::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
{
- sub_ = nh.subscribe(topic, 1, &WolfSubscriberGnssUblox::callback, this);
+ sub_ = nh.subscribe(topic, 10, &WolfSubscriberGnssUblox::callback, this);
}
void WolfSubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
{
- ROS_INFO("Ublox data stream callback!");
-
GNSSUtils::RawDataType res = ublox_raw_.addDataStream(msg.data);
+ //std::cout << "res = " << (int) res << std::endl;
+
// only create capture if observation is received
if (res == GNSSUtils::OBS)
{
- ROS_INFO("Observation received!");
-
+ //ROS_INFO("Observation received!");
GNSSUtils::ObservationsPtr obs_ptr = std::make_shared<GNSSUtils::Observations>(ublox_raw_.getObservations());
- ROS_INFO("Observations copied!");
+ //ROS_INFO("Observations copied!");
GNSSUtils::NavigationPtr nav_ptr = std::make_shared<GNSSUtils::Navigation>(ublox_raw_.getNavigation());
- ROS_INFO("Navigation copied!");
+ //ROS_INFO("Navigation copied!");
ros::Time now = ros::Time::now();
@@ -38,9 +37,9 @@ void WolfSubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
obs_ptr,
nav_ptr);
- ROS_INFO("Capture GNSS created!");
+ //ROS_INFO("Capture GNSS created!");
cap_gnss_ptr->process();
- ROS_INFO("Capture GNSS processed!");
+ //ROS_INFO("Capture GNSS processed!");
}
}
std::shared_ptr<WolfSubscriber> WolfSubscriberGnssUblox::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
--
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