UORBNode

This module contains UORBNode, an extension ROS node that publishes PX4 uORB SensorGps (GNSS) messages to the uXRCE-DDS middleware

Classes:

UORBNode(*args, **kwargs)	A node that publishes PX4 uORB SensorGps (GNSS) messages to the uXRCE-DDS middleware

class gisnav.extensions.uorb_node.UORBNode(*args, **kwargs)

Bases: MockGPSNode

A node that publishes PX4 uORB SensorGps (GNSS) messages to the uXRCE-DDS middleware

Class initializer

• Parameters:
  • args – Positional arguments to parent Node constructor
  • kwargs – Keyword arguments to parent Node constructor

Methods:

sensor_gps(lat, lon, altitude_ellipsoid, ...)	Outgoing mock GPS message, or None if cannot be computed

sensor_gps(lat: int, lon: int, altitude_ellipsoid: float, altitude_amsl: float, yaw_degrees: int, h_variance_rad: float, vel_n_m_s: float, vel_e_m_s: float, vel_d_m_s: float, cog: float, cog_variance_rad: float, s_variance_m_s: float, timestamp: int, eph: float, epv: float, satellites_visible: int)

Outgoing mock GPS message, or None if cannot be computed

px4_msgs release/1.14

Uses the release/1.14 tag version of px4_msgs.msg.SensorGps

GISNav v0.68.1-2-gf2c72641