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Fix ros2 component topics #46

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Merged
merged 2 commits into from
Mar 28, 2022
Merged

Fix ros2 component topics #46

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1ddc750
Fix ros2 component topics
daveshed Oct 26, 2021
6b83f29
Update gpsd_client/src/client.cpp
danthony06 Mar 28, 2022
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12 changes: 11 additions & 1 deletion gpsd_client/src/client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,11 @@
#include <sensor_msgs/msg/nav_sat_status.hpp>
#include <libgpsmm.h>

#include <chrono>
#include <cmath>

using namespace std::chrono_literals;

namespace gpsd_client
{
class GPSDClientComponent : public rclcpp::Node
Expand All @@ -18,7 +21,11 @@ namespace gpsd_client
use_gps_time_(true),
check_fix_by_variance_(true),
frame_id_("gps")
{}
{
timer_ = create_wall_timer(1s, std::bind(&GPSDClientComponent::step, this));
start();
RCLCPP_INFO(this->get_logger(), "Instantiated.");
}

bool start()
{
Expand Down Expand Up @@ -207,6 +214,7 @@ namespace gpsd_client

fix.status = status;

RCLCPP_DEBUG(this->get_logger(), "Publishing gps fix...");
gps_fix_pub_->publish(fix);
}

Expand Down Expand Up @@ -271,6 +279,7 @@ namespace gpsd_client

fix->position_covariance_type = sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;

RCLCPP_DEBUG(this->get_logger(), "Publishing navsatfix...");
navsatfix_pub_->publish(std::move(fix));
}

Expand All @@ -282,6 +291,7 @@ namespace gpsd_client
bool use_gps_time_;
bool check_fix_by_variance_;
std::string frame_id_;
rclcpp::TimerBase::SharedPtr timer_;
};
}

Expand Down