Skip to content
Snippets Groups Projects
Commit 8abbdcf7 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

wip

parent 8752017d
No related branches found
No related tags found
2 merge requests!3After cmake and const refactor,!1new release
...@@ -39,11 +39,14 @@ class SubscriberGnssUblox : public SubscriberGnssReceiver ...@@ -39,11 +39,14 @@ class SubscriberGnssUblox : public SubscriberGnssReceiver
const ParamsServer& _server, const ParamsServer& _server,
const SensorBasePtr _sensor_ptr); const SensorBasePtr _sensor_ptr);
WOLF_SUBSCRIBER_CREATE(SubscriberGnssUblox); WOLF_SUBSCRIBER_CREATE(SubscriberGnssUblox);
virtual ~SubscriberGnssUblox();
virtual void initialize(ros::NodeHandle& nh, const std::string& topic); virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
void callback(const std_msgs::UInt8MultiArray& msg); void callback(const std_msgs::UInt8MultiArray& msg);
protected:
long unsigned int n_msgs_;
}; };
WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox); WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox);
......
...@@ -18,7 +18,7 @@ void SubscriberGnssNovatel::initialize(ros::NodeHandle& nh, const std::string& t ...@@ -18,7 +18,7 @@ void SubscriberGnssNovatel::initialize(ros::NodeHandle& nh, const std::string& t
{ {
SubscriberGnssReceiver::initialize(nh, topic); 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) void SubscriberGnssNovatel::callback(const novatel_oem7_msgs::Oem7RawMsg& msg)
......
...@@ -10,21 +10,28 @@ SubscriberGnssUblox::SubscriberGnssUblox(const std::string& _unique_name, ...@@ -10,21 +10,28 @@ SubscriberGnssUblox::SubscriberGnssUblox(const std::string& _unique_name,
SubscriberGnssReceiver(_unique_name, SubscriberGnssReceiver(_unique_name,
_server, _server,
_sensor_ptr, _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) void SubscriberGnssUblox::initialize(ros::NodeHandle& nh, const std::string& topic)
{ {
SubscriberGnssReceiver::initialize(nh, 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) void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
{ {
auto stamp = ros::Time::now(); auto stamp = ros::Time::now();
setLastStamp(stamp); setLastStamp(stamp);
n_msgs_++;
GnssUtils::RawDataType res = receiver_->addDataStream(msg.data); GnssUtils::RawDataType res = receiver_->addDataStream(msg.data);
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment