subscriber ublox implemented compiling

include/wolf_subscriber_gnss_ublox.h

@@ -5,7 +5,7 @@
 #include <core/common/wolf.h>
 #include <core/problem/problem.h>
 #include <core/utils/params_server.hpp>
-#include <gnss/capture/capture_gnss_fix.h>
+#include <gnss/capture/capture_gnss.h>
 #include <gnss/sensor/sensor_gnss.h>
 
 /**************************
@@ -20,6 +20,7 @@
 #include "wolf_subscriber.h"
 #include "subscriber_factory.h"
 #include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/ublox_raw.h"
 
 using namespace wolf;
 
@@ -34,5 +35,9 @@ class WolfSubscriberGnssUblox : public WolfSubscriber
         void callback(const std_msgs::UInt8MultiArray& msg);
 
         static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+
+    protected:
+
+        GNSSUtils::UBloxRaw ublox_raw_;
 };
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssUblox)
\ No newline at end of file
+WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssUblox)

src/wolf_subscriber_gnss_ublox.cpp

@@ -15,9 +15,22 @@ void WolfSubscriberGnssUblox::initSubscriber(ros::NodeHandle& nh, const std::str
 }
 
 void WolfSubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
+
 {
+    // only create capture if observation is received
+    if (ublox_raw_.addDataStream(msg.data) == GNSSUtils::OBS)
+    {
+        GNSSUtils::ObservationsPtr obs_ptr = std::make_shared<GNSSUtils::Observations>(ublox_raw_.getObservations());
+        GNSSUtils::NavigationPtr   nav_ptr = std::make_shared<GNSSUtils::Navigation>(ublox_raw_.getNavigation());
+
+        ros::Time now = ros::Time::now();
 
-    // cap_gnss_ptr->process();
+        auto cap_gnss_ptr = std::make_shared<CaptureGnss>(TimeStamp(now.sec, now.nsec),
+                                                          sensor_ptr_,
+                                                          obs_ptr,
+                                                          nav_ptr);
+        cap_gnss_ptr->process();
+    }
 }
 std::shared_ptr<WolfSubscriber> WolfSubscriberGnssUblox::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {