wip

include/subscriber_gnss_ublox.h

@@ -39,11 +39,14 @@ class SubscriberGnssUblox : public SubscriberGnssReceiver
                             const ParamsServer& _server,
                             const SensorBasePtr _sensor_ptr);
         WOLF_SUBSCRIBER_CREATE(SubscriberGnssUblox);
+        virtual ~SubscriberGnssUblox();
 
         virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
 
         void callback(const std_msgs::UInt8MultiArray& msg);
 
+    protected:
+        long unsigned int n_msgs_;
 };
 
 WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox);

src/subscriber_gnss_novatel.cpp

@@ -18,7 +18,7 @@ void SubscriberGnssNovatel::initialize(ros::NodeHandle& nh, const std::string& t
 {
     SubscriberGnssReceiver::initialize(nh, topic);
 
-    sub_     = nh.subscribe(topic, 100, &SubscriberGnssNovatel::callback, this);
+    sub_     = nh.subscribe(topic, 10000, &SubscriberGnssNovatel::callback, this);
 }
 
 void SubscriberGnssNovatel::callback(const novatel_oem7_msgs::Oem7RawMsg& msg)

src/subscriber_gnss_ublox.cpp

@@ -10,21 +10,28 @@ SubscriberGnssUblox::SubscriberGnssUblox(const std::string& _unique_name,
         SubscriberGnssReceiver(_unique_name,
                                _server,
                                _sensor_ptr,
-                               std::make_shared<GnssUtils::UBloxRaw>())
+                               std::make_shared<GnssUtils::UBloxRaw>()),
+        n_msgs_(0)
 {
 }
 
+SubscriberGnssUblox::~SubscriberGnssUblox()
+{
+    WOLF_INFO("SubscriberGnssUblox destructor: n_msgs_ = ", n_msgs_);
+}
+
 void SubscriberGnssUblox::initialize(ros::NodeHandle& nh, const std::string& topic)
 {
     SubscriberGnssReceiver::initialize(nh, topic);
 
-    sub_     = nh.subscribe(topic, 100, &SubscriberGnssUblox::callback, this);
+    sub_     = nh.subscribe(topic, 10000, &SubscriberGnssUblox::callback, this);
 }
 
 void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
 {
     auto stamp = ros::Time::now();
     setLastStamp(stamp);
+    n_msgs_++;
 
     GnssUtils::RawDataType res = receiver_->addDataStream(msg.data);