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Use name relative the node name when defining topics #271

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4 changes: 2 additions & 2 deletions ublox_gps/include/ublox_gps/ublox_firmware7.hpp
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Expand Up @@ -26,10 +26,10 @@ class UbloxFirmware7 final : public UbloxFirmware7Plus<ublox_msgs::msg::NavPVT7>
explicit UbloxFirmware7(const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<FixDiagnostic> freq_diag, std::shared_ptr<Gnss> gnss, rclcpp::Node* node)
: UbloxFirmware7Plus<ublox_msgs::msg::NavPVT7>(frame_id, updater, freq_diag, gnss, node) {
if (getRosBoolean(node_, "publish.nav.svinfo")) {
nav_svinfo_pub_ = node->create_publisher<ublox_msgs::msg::NavSVINFO>("navsvinfo", 1);
nav_svinfo_pub_ = node->create_publisher<ublox_msgs::msg::NavSVINFO>("~/navsvinfo", 1);
}
if (getRosBoolean(node_, "publish.mon.hw")) {
mon_hw_pub_ = node->create_publisher<ublox_msgs::msg::MonHW>("monhw", 1);
mon_hw_pub_ = node->create_publisher<ublox_msgs::msg::MonHW>("~/monhw", 1);
}
}

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6 changes: 3 additions & 3 deletions ublox_gps/include/ublox_gps/ublox_firmware8.hpp
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Expand Up @@ -26,13 +26,13 @@ class UbloxFirmware8 : public UbloxFirmware7Plus<ublox_msgs::msg::NavPVT> {
explicit UbloxFirmware8(const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, std::shared_ptr<FixDiagnostic> freq_diag, std::shared_ptr<Gnss> gnss, rclcpp::Node* node)
: UbloxFirmware7Plus<ublox_msgs::msg::NavPVT>(frame_id, updater, freq_diag, gnss, node) {
if (getRosBoolean(node_, "publish.nav.sat")) {
nav_sat_pub_ = node->create_publisher<ublox_msgs::msg::NavSAT>("navstate", 1);
nav_sat_pub_ = node->create_publisher<ublox_msgs::msg::NavSAT>("~/navstate", 1);
}
if (getRosBoolean(node_, "publish.mon.hw")) {
mon_hw_pub_ = node->create_publisher<ublox_msgs::msg::MonHW>("monhw", 1);
mon_hw_pub_ = node->create_publisher<ublox_msgs::msg::MonHW>("~/monhw", 1);
}
if (getRosBoolean(node_, "publish.rxm.rtcm")) {
rxm_rtcm_pub_ = node->create_publisher<ublox_msgs::msg::RxmRTCM>("rxmrtcm", 1);
rxm_rtcm_pub_ = node->create_publisher<ublox_msgs::msg::RxmRTCM>("~/rxmrtcm", 1);
}
}

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16 changes: 8 additions & 8 deletions ublox_gps/src/adr_udr_product.cpp
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Expand Up @@ -30,26 +30,26 @@ AdrUdrProduct::AdrUdrProduct(float protocol_version, uint16_t nav_rate, uint16_t
{
if (getRosBoolean(node_, "publish.esf.meas")) {
imu_pub_ =
node_->create_publisher<sensor_msgs::msg::Imu>("imu_meas", 1);
node_->create_publisher<sensor_msgs::msg::Imu>("~/imu_meas", 1);
time_ref_pub_ =
node_->create_publisher<sensor_msgs::msg::TimeReference>("interrupt_time", 1);
node_->create_publisher<sensor_msgs::msg::TimeReference>("~/interrupt_time", 1);

esf_meas_pub_ = node_->create_publisher<ublox_msgs::msg::EsfMEAS>("esfmeas", 1);
esf_meas_pub_ = node_->create_publisher<ublox_msgs::msg::EsfMEAS>("~/esfmeas", 1);
}
if (getRosBoolean(node_, "publish.nav.att")) {
nav_att_pub_ = node_->create_publisher<ublox_msgs::msg::NavATT>("navatt", 1);
nav_att_pub_ = node_->create_publisher<ublox_msgs::msg::NavATT>("~/navatt", 1);
}
if (getRosBoolean(node_, "publish.esf.ins")) {
esf_ins_pub_ = node_->create_publisher<ublox_msgs::msg::EsfINS>("esfins", 1);
esf_ins_pub_ = node_->create_publisher<ublox_msgs::msg::EsfINS>("~/esfins", 1);
}
if (getRosBoolean(node_, "publish.esf.raw")) {
esf_raw_pub_ = node_->create_publisher<ublox_msgs::msg::EsfRAW>("esfraw", 1);
esf_raw_pub_ = node_->create_publisher<ublox_msgs::msg::EsfRAW>("~/esfraw", 1);
}
if (getRosBoolean(node_, "publish.esf.status")) {
esf_status_pub_ = node_->create_publisher<ublox_msgs::msg::EsfSTATUS>("esfstatus", 1);
esf_status_pub_ = node_->create_publisher<ublox_msgs::msg::EsfSTATUS>("~/esfstatus", 1);
}
if (getRosBoolean(node_, "publish.hnr.pvt")) {
hnr_pvt_pub_ = node_->create_publisher<ublox_msgs::msg::HnrPVT>("hnrpvt", 1);
hnr_pvt_pub_ = node_->create_publisher<ublox_msgs::msg::HnrPVT>("~/hnrpvt", 1);
}
}

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4 changes: 2 additions & 2 deletions ublox_gps/src/hp_pos_rec_product.cpp
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Expand Up @@ -25,12 +25,12 @@ HpPosRecProduct::HpPosRecProduct(uint16_t nav_rate, uint16_t meas_rate, const st
{
if (getRosBoolean(node_, "publish.nav.relposned")) {
nav_relposned_pub_ =
node_->create_publisher<ublox_msgs::msg::NavRELPOSNED9>("navrelposned", 1);
node_->create_publisher<ublox_msgs::msg::NavRELPOSNED9>("~/navrelposned", 1);
}

if (getRosBoolean(node_, "publish.nav.heading")) {
imu_pub_ =
node_->create_publisher<sensor_msgs::msg::Imu>("navheading", 1);
node_->create_publisher<sensor_msgs::msg::Imu>("~/navheading", 1);
}
}

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2 changes: 1 addition & 1 deletion ublox_gps/src/hpg_ref_product.cpp
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Expand Up @@ -27,7 +27,7 @@ HpgRefProduct::HpgRefProduct(uint16_t nav_rate, uint16_t meas_rate, std::shared_
{
if (getRosBoolean(node_, "publish.nav.svin")) {
navsvin_pub_ =
node_->create_publisher<ublox_msgs::msg::NavSVIN>("navsvin", 1);
node_->create_publisher<ublox_msgs::msg::NavSVIN>("~/navsvin", 1);
}
}

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2 changes: 1 addition & 1 deletion ublox_gps/src/hpg_rov_product.cpp
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Expand Up @@ -25,7 +25,7 @@ HpgRovProduct::HpgRovProduct(uint16_t nav_rate, std::shared_ptr<diagnostic_updat
{
if (getRosBoolean(node_, "publish.nav.relposned")) {
nav_rel_pos_ned_pub_ =
node_->create_publisher<ublox_msgs::msg::NavRELPOSNED>("navrelposned", 1);
node_->create_publisher<ublox_msgs::msg::NavRELPOSNED>("~/navrelposned", 1);
}
}

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18 changes: 9 additions & 9 deletions ublox_gps/src/node.cpp
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Expand Up @@ -475,33 +475,33 @@ void UbloxNode::getRosParams() {

// Create publishers based on parameters
if (getRosBoolean(this, "publish.nav.status")) {
nav_status_pub_ = this->create_publisher<ublox_msgs::msg::NavSTATUS>("navstatus", 1);
nav_status_pub_ = this->create_publisher<ublox_msgs::msg::NavSTATUS>("~/navstatus", 1);
}
if (getRosBoolean(this, "publish.nav.posecef")) {
nav_posecef_pub_ = this->create_publisher<ublox_msgs::msg::NavPOSECEF>("navposecef", 1);
nav_posecef_pub_ = this->create_publisher<ublox_msgs::msg::NavPOSECEF>("~/navposecef", 1);
}
if (getRosBoolean(this, "publish.nav.cov")) {
nav_cov_pub_ = this->create_publisher<ublox_msgs::msg::NavCOV>("navcov", 1);
nav_cov_pub_ = this->create_publisher<ublox_msgs::msg::NavCOV>("~/navcov", 1);
}
if (getRosBoolean(this, "publish.nav.clock")) {
nav_clock_pub_ = this->create_publisher<ublox_msgs::msg::NavCLOCK>("navclock", 1);
nav_clock_pub_ = this->create_publisher<ublox_msgs::msg::NavCLOCK>("~/navclock", 1);
}
if (getRosBoolean(this, "publish.aid.alm")) {
aid_alm_pub_ = this->create_publisher<ublox_msgs::msg::AidALM>("aidalm", 1);
aid_alm_pub_ = this->create_publisher<ublox_msgs::msg::AidALM>("~/aidalm", 1);
}
if (getRosBoolean(this, "publish.aid.eph")) {
aid_eph_pub_ = this->create_publisher<ublox_msgs::msg::AidEPH>("aideph", 1);
aid_eph_pub_ = this->create_publisher<ublox_msgs::msg::AidEPH>("~/aideph", 1);
}
if (getRosBoolean(this, "publish.aid.hui")) {
aid_hui_pub_ = this->create_publisher<ublox_msgs::msg::AidHUI>("aidhui", 1);
aid_hui_pub_ = this->create_publisher<ublox_msgs::msg::AidHUI>("~/aidhui", 1);
}
if (getRosBoolean(this, "publish.nmea")) {
// Larger queue depth to handle all NMEA strings being published consecutively
nmea_pub_ = this->create_publisher<nmea_msgs::msg::Sentence>("nmea", 20);
nmea_pub_ = this->create_publisher<nmea_msgs::msg::Sentence>("~/nmea", 20);
}

// Create subscriber for RTCM correction data to enable RTK
this->subscription_ = this->create_subscription<rtcm_msgs::msg::Message>("/rtcm", 10, std::bind(&UbloxNode::rtcmCallback, this, std::placeholders::_1));
this->subscription_ = this->create_subscription<rtcm_msgs::msg::Message>("~/rtcm", 10, std::bind(&UbloxNode::rtcmCallback, this, std::placeholders::_1));
}

void UbloxNode::keepAlive() {
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4 changes: 2 additions & 2 deletions ublox_gps/src/raw_data_pa.cpp
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Expand Up @@ -58,7 +58,7 @@ RawDataStreamPa::RawDataStreamPa(bool is_ros_subscriber) : rclcpp::Node("raw_dat
flag_publish_(false),
is_ros_subscriber_(is_ros_subscriber) {

raw_pub_ = this->create_publisher<std_msgs::msg::UInt8MultiArray>("raw_data_stream", 100);
raw_pub_ = this->create_publisher<std_msgs::msg::UInt8MultiArray>("~/raw_data_stream", 100);

this->declare_parameter("dir", "");
this->declare_parameter("raw_data_stream.dir", "");
Expand Down Expand Up @@ -89,7 +89,7 @@ void RawDataStreamPa::initialize() {
if (is_ros_subscriber_) {
RCLCPP_INFO(this->get_logger(), "Subscribing to raw data stream.");
raw_data_stream_sub_ =
this->create_subscription<std_msgs::msg::UInt8MultiArray>("raw_data_stream", rclcpp::QoS(100),
this->create_subscription<std_msgs::msg::UInt8MultiArray>("~/raw_data_stream", rclcpp::QoS(100),
std::bind(&RawDataStreamPa::msgCallback, this, std::placeholders::_1));
} else if (flag_publish_) {
RCLCPP_INFO(this->get_logger(), "Publishing raw data stream.");
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8 changes: 4 additions & 4 deletions ublox_gps/src/raw_data_product.cpp
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Expand Up @@ -21,16 +21,16 @@ namespace ublox_node {
RawDataProduct::RawDataProduct(uint16_t nav_rate, uint16_t meas_rate, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node* node)
: nav_rate_(nav_rate), meas_rate_(meas_rate), updater_(updater), node_(node) {
if (getRosBoolean(node_, "publish.rxm.raw")) {
rxm_raw_pub_ = node_->create_publisher<ublox_msgs::msg::RxmRAW>("rxmraw", 1);
rxm_raw_pub_ = node_->create_publisher<ublox_msgs::msg::RxmRAW>("~/rxmraw", 1);
}
if (getRosBoolean(node_, "publish.rxm.sfrb")) {
rxm_sfrb_pub_ = node_->create_publisher<ublox_msgs::msg::RxmSFRB>("rxmsfrb", 1);
rxm_sfrb_pub_ = node_->create_publisher<ublox_msgs::msg::RxmSFRB>("~/rxmsfrb", 1);
}
if (getRosBoolean(node_, "publish.rxm.eph")) {
rxm_eph_pub_ = node_->create_publisher<ublox_msgs::msg::RxmEPH>("rxmeph", 1);
rxm_eph_pub_ = node_->create_publisher<ublox_msgs::msg::RxmEPH>("~/rxmeph", 1);
}
if (getRosBoolean(node_, "publish.rxm.almRaw")) {
rxm_alm_pub_ = node_->create_publisher<ublox_msgs::msg::RxmALM>("rxmalm", 1);
rxm_alm_pub_ = node_->create_publisher<ublox_msgs::msg::RxmALM>("~/rxmalm", 1);
}
}

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8 changes: 4 additions & 4 deletions ublox_gps/src/tim_product.cpp
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Expand Up @@ -23,15 +23,15 @@ namespace ublox_node {
TimProduct::TimProduct(const std::string & frame_id, std::shared_ptr<diagnostic_updater::Updater> updater, rclcpp::Node* node) : frame_id_(frame_id), updater_(updater), node_(node)
{
timtm2_pub_ =
node_->create_publisher<ublox_msgs::msg::TimTM2>("timtm2", 1);
node_->create_publisher<ublox_msgs::msg::TimTM2>("~/timtm2", 1);
interrupt_time_pub_ =
node_->create_publisher<sensor_msgs::msg::TimeReference>("interrupt_time", 1);
node_->create_publisher<sensor_msgs::msg::TimeReference>("~/interrupt_time", 1);

if (getRosBoolean(node_, "publish.rxm.sfrb")) {
rxm_sfrb_pub_ = node_->create_publisher<ublox_msgs::msg::RxmSFRBX>("rxmsfrb", 1);
rxm_sfrb_pub_ = node_->create_publisher<ublox_msgs::msg::RxmSFRBX>("~/rxmsfrb", 1);
}
if (getRosBoolean(node_, "publish.rxm.raw")) {
rxm_raw_pub_ = node_->create_publisher<ublox_msgs::msg::RxmRAWX>("rxmraw", 1);
rxm_raw_pub_ = node_->create_publisher<ublox_msgs::msg::RxmRAWX>("~/rxmraw", 1);
}
}

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10 changes: 5 additions & 5 deletions ublox_gps/src/ublox_firmware6.cpp
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Expand Up @@ -32,15 +32,15 @@ UbloxFirmware6::UbloxFirmware6(const std::string & frame_id, std::shared_ptr<dia
{
if (getRosBoolean(node_, "publish.nav.posllh")) {
nav_pos_llh_pub_ =
node_->create_publisher<ublox_msgs::msg::NavPOSLLH>("navposllh", 1);
node_->create_publisher<ublox_msgs::msg::NavPOSLLH>("~/navposllh", 1);
}

fix_pub_ =
node_->create_publisher<sensor_msgs::msg::NavSatFix>("~/fix", 1);

if (getRosBoolean(node_, "publish.nav.velned")) {
nav_vel_ned_pub_ =
node_->create_publisher<ublox_msgs::msg::NavVELNED>("navvelned", 1);
node_->create_publisher<ublox_msgs::msg::NavVELNED>("~/navvelned", 1);
}

vel_pub_ =
Expand All @@ -49,15 +49,15 @@ UbloxFirmware6::UbloxFirmware6(const std::string & frame_id, std::shared_ptr<dia

if (getRosBoolean(node_, "publish.nav.sol")) {
nav_sol_pub_ =
node_->create_publisher<ublox_msgs::msg::NavSOL>("navsol", 1);
node_->create_publisher<ublox_msgs::msg::NavSOL>("~/navsol", 1);
}
if (getRosBoolean(node_, "publish.nav.svinfo")) {
nav_svinfo_pub_ =
node_->create_publisher<ublox_msgs::msg::NavSVINFO>("navinfo", 1);
node_->create_publisher<ublox_msgs::msg::NavSVINFO>("~/navinfo", 1);
}
if (getRosBoolean(node_, "publish.mon.hw")) {
mon_hw_pub_ =
node_->create_publisher<ublox_msgs::msg::MonHW6>("monhw", 1);
node_->create_publisher<ublox_msgs::msg::MonHW6>("~/monhw", 1);
}
}

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6 changes: 3 additions & 3 deletions ublox_gps/src/ublox_firmware9.cpp
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Expand Up @@ -17,11 +17,11 @@ UbloxFirmware9::UbloxFirmware9(const std::string & frame_id, std::shared_ptr<dia
{
if (getRosBoolean(node_, "publish.nav.timegps"))
{
nav_timegps_pub_ = node->create_publisher<ublox_msgs::msg::NavTIMEGPS>("navtimegps", 1);
nav_timegps_pub_ = node->create_publisher<ublox_msgs::msg::NavTIMEGPS>("~/navtimegps", 1);
}
if (getRosBoolean(node_, "publish.nav.timeutc"))
{
nav_timeutc_pub_ = node->create_publisher<ublox_msgs::msg::NavTIMEUTC>("navtimeutc", 1);
nav_timeutc_pub_ = node->create_publisher<ublox_msgs::msg::NavTIMEUTC>("~/navtimeutc", 1);
}
}

Expand Down Expand Up @@ -127,7 +127,7 @@ ublox_msgs::msg::CfgVALSETCfgdata UbloxFirmware9::generateSignalConfig(uint32_t
}

void UbloxFirmware9::subscribe(std::shared_ptr<ublox_gps::Gps> gps)
{
{
UbloxFirmware8::subscribe(gps);

// Subscribe to NAV TIMEGPS messages
Expand Down