working

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)