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  • Committer: Brett Grandbois
  • Date: 2011-09-16 05:05:55 UTC
  • Revision ID: brett.grandbois@csiro.au-20110916050555-97ffwg1xz0b24m37
bzr_checkout.mk has been accept in ROS latest so proceeding with setting up
for release.  
small and novatelINS can now build but nobuild mrol and openrave until 
further reviewed

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                        // Set the timestamp 
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                        // TODO: should this be the GPS time or ROS time?
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                        ros::Time::Time timestamp((int)data->timeStampSec, (int)(data->timeStampUSec*1e3)); // sec, nsec WALL TIME from driver - call to gettimeofday()
 
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                        ros::Time timestamp((int)data->timeStampSec, (int)(data->timeStampUSec*1e3)); // sec, nsec WALL TIME from driver - call to gettimeofday()
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                        //ros::Time::Time timestamp(,)); // sec, nsec GPS TIME
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                        // TODO: should the header completion be outside the switch, at the end with the publish?
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            _novatelINSstatus.statusMessage = data->statusMessage;
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            _novatelINSstatus.statusType = (int)data->statusMessageType;
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            _novatelINSstatus.weekNumber = (int)data->gpsWeekNr;
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            _novatelINSstatus.secIntoWeek = ros::Time::Time((double)data->secIntoWeek);
 
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            _novatelINSstatus.secIntoWeek = ros::Time ((double)data->secIntoWeek);
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                        ROS_DEBUG("insPvaData: %s", data->toString().c_str());
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                        ROS_DEBUG("got inspva\n");
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                        // Set the timestamp 
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                        // TODO: should this be the GPS time or ROS time?
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                        ros::Time::Time timestamp((int)data->timeStampSec, (int)(data->timeStampUSec*1e3)); // sec, nsec WALL TIME from driver - call to gettimeofday()
 
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                        ros::Time timestamp((int)data->timeStampSec, (int)(data->timeStampUSec*1e3)); // sec, nsec WALL TIME from driver - call to gettimeofday()
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                        //ros::Time::Time timestamp(,)); // sec, nsec GPS TIME
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                        _GPSFixData.header.stamp = timestamp; 
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                        //gpsBestPosData.timeStampUSec          =data->timeStampUSec     ;
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            _novatelGPSstatus.weekNumber = (int)data->gpsWeekNr;
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            _novatelGPSstatus.secIntoWeek = ros::Time::Time((double)data->msIntoWeek/1e3);
 
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            _novatelGPSstatus.secIntoWeek = ros::Time ((double)data->msIntoWeek/1e3);
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            _novatelGPSstatus.GPSsolutionStatus = data->solutionStatus;
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            _novatelGPSstatus.GPSpositionType = data->positionType;
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            _novatelGPSstatus.GPSundulation = data->undulation;
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                        ROS_WARN_ONCE("Handling for GPS velocity data not yet implemented");
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                        // Set the timestamp 
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                        // TODO: should this be the GPS time or ROS time?
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                        ros::Time::Time timestamp((int)data->timeStampSec, (int)(data->timeStampUSec*1e3)); // sec, nsec WALL TIME from driver - call to gettimeofday()
 
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                        ros::Time timestamp((int)data->timeStampSec, (int)(data->timeStampUSec*1e3)); // sec, nsec WALL TIME from driver - call to gettimeofday()
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                        //ros::Time::Time timestamp(,)); // sec, nsec GPS TIME
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                        double GPS_yaw = DEG2RAD(-data->trackOverGround);
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                        //cout << GPS_yaw  << endl;