WFSTNode

This module contains WFSTNode, an extension ROS node that subscribes to and stores UORBNode.sensor_gps messages in a database via the WFS-T protocol.

Classes:

WFSTNode(*args, **kwargs)	ROS 2 node that subscribes to and stores UORBNode.sensor_gps messages using WFS-T.

class gisnav.extensions.wfst_node.WFSTNode(*args, **kwargs)

Bases: Node

ROS 2 node that subscribes to and stores UORBNode.sensor_gps messages using WFS-T.

Class initializer

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

Attributes:

ROS_D_URL	Default value for wfst_url
sensor_gps	Subscribed UORBNode.sensor_gps mock GPS message
wfst_url	ROS parameter value for WFS-T endpoint URL

ROS_D_URL = 'http://127.0.0.1:80/wfst'

Default value for wfst_url

When deploying Docker Compose services the Docker DNS host name of the MapServer container gisnav-mapserver-1 should be used in the URL. This should already be configured in the default launch parameter file which overrides this default value.

Alternatively, if the service is on a different network, use the Docker host URL, or the URL of the reverse proxy.

property sensor_gps : SensorGps | None

Subscribed UORBNode.sensor_gps mock GPS message

property wfst_url : str | None

ROS parameter value for WFS-T endpoint URL

GISNav v0.68.1-2-gf2c72641