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grizzigrizzi
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Add NOV_B-HEADING2 output (#95)
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Lines changed: 146 additions & 2 deletions

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‎fixposition_driver_msgs/msg/NovbHeading2.msg‎

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# Copyright (c) Fixposition AG (www.fixposition.com) and contributors
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# License: see the LICENSE file
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#
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# NOV_B-HEADING2 data
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std_msgs/Header header
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uint32 sol_status # See NovbGnssSolStat
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uint32 pos_type # See NovbPosOrVelType
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float32 length # Baseline length (m)
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float32 heading # Heading (degrees)
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float32 pitch # Pitch (degrees)
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float32 reserved # Reserved
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float32 heading_stdev # Heading standard deviation (degrees)
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float32 pitch_stdev # Pitch standard deviation (degrees)
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string rover_stn_id # Rover station ID
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string master_stn_id # Master station ID
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uint8 num_sv_tracked # Number of satellites tracked
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uint8 num_sv_in_sol # Number of satellites in solution
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uint8 num_sv_obs # Number of satellites with observations
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uint8 num_sv_multi # Number of satellites with multi-frequency observations
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uint8 sol_source # Solution source (see NovbSolSource)
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uint8 ext_sol_status # Extended solution status (see NovbGnssSolExtStat)
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uint8 galileo_beidou_sig_mask # Galileo and BeiDou signal mask (see NovbSigUsedGalBds)
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uint8 gps_glonass_sig_mask # GPS and GLONASS signal mask (see NovbSigUsedGpsGlo)

‎fixposition_driver_ros1/include/fixposition_driver_ros1/data_to_ros1.hpp‎

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@@ -58,6 +58,8 @@ bool PublishNovbBestgnsspos(const fpsdk::common::parser::novb::NovbHeader* heade
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ros::Publisher& pub2);
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bool PublishNovbInspvax(const fpsdk::common::parser::novb::NovbHeader* header,
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const fpsdk::common::parser::novb::NovbInspvax* payload, ros::Publisher& pub);
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bool PublishNovbHeading2(const fpsdk::common::parser::novb::NovbHeader* header,
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const fpsdk::common::parser::novb::NovbHeading2* payload, ros::Publisher& pub);
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void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload, ros::Publisher& pub);
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void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload, ros::Publisher& pub);

‎fixposition_driver_ros1/include/fixposition_driver_ros1/fixposition_driver_node.hpp‎

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@@ -86,7 +86,8 @@ class FixpositionDriverNode {
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ros::Publisher nmea_vtg_pub_; //!< NMEA-GP-VTG message
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ros::Publisher nmea_zda_pub_; //!< NMEA-GP-ZDA message
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// - NOV_B messages
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ros::Publisher novb_inspvax_pub_; //!< NOV_B-INSPVAX message
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ros::Publisher novb_inspvax_pub_; //!< NOV_B-INSPVAX message
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ros::Publisher novb_heading2_pub_; //!< NOV_B-HEADING2 message
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// - Odometry
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ros::Publisher odometry_ecef_pub_; //!< ECEF odometry
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ros::Publisher odometry_enu_pub_; //!< ENU odometry

‎fixposition_driver_ros1/include/fixposition_driver_ros1/ros1_msgs.hpp‎

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#include <fixposition_driver_msgs/NmeaVtg.h>
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#include <fixposition_driver_msgs/NmeaZda.h>
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// - NOV-B
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#include <fixposition_driver_msgs/NovbHeading2.h>
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#include <fixposition_driver_msgs/NovbInspvax.h>
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#pragma GCC diagnostic pop

‎fixposition_driver_ros1/src/data_to_ros1.cpp‎

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@@ -506,6 +506,49 @@ bool PublishNovbInspvax(const novb::NovbHeader* header, const novb::NovbInspvax*
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// ---------------------------------------------------------------------------------------------------------------------
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static void NovbHeading2ToMsg(const novb::NovbHeader* header, const novb::NovbHeading2* payload,
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fixposition_driver_msgs::NovbHeading2& msg) {
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if ((header != NULL) && (payload != NULL) && header->IsLongHeader()) {
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time::Time stamp;
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if (stamp.SetWnoTow({header->long_header.gps_week, (double)header->long_header.gps_milliseconds * 1e-3,
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time::WnoTow::Sys::GPS})) {
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msg.header.stamp = ros1::utils::ConvTime(stamp);
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}
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msg.sol_status = payload->sol_status;
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msg.pos_type = payload->pos_type;
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msg.length = payload->length;
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msg.heading = payload->heading;
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msg.pitch = payload->pitch;
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msg.reserved = payload->reserved;
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msg.heading_stdev = payload->heading_stdev;
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msg.pitch_stdev = payload->pitch_stdev;
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msg.rover_stn_id = fpsdk::common::string::BufToStr(
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{payload->rover_stn_id, payload->rover_stn_id + sizeof(payload->rover_stn_id)});
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msg.master_stn_id = fpsdk::common::string::BufToStr(
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{payload->master_stn_id, payload->master_stn_id + sizeof(payload->master_stn_id)});
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msg.num_sv_tracked = payload->num_sv_tracked;
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msg.num_sv_in_sol = payload->num_sv_in_sol;
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msg.num_sv_obs = payload->num_sv_obs;
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msg.num_sv_multi = payload->num_sv_multi;
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msg.sol_source = payload->sol_source;
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msg.ext_sol_status = payload->ext_sol_status;
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msg.galileo_beidou_sig_mask = payload->galileo_beidou_sig_mask;
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msg.gps_glonass_sig_mask = payload->gps_glonass_sig_mask;
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}
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}
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bool PublishNovbHeading2(const novb::NovbHeader* header, const novb::NovbHeading2* payload, ros::Publisher& pub) {
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if (pub.getNumSubscribers() > 0) {
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fixposition_driver_msgs::NovbHeading2 msg;
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NovbHeading2ToMsg(header, payload, msg);
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pub.publish(msg);
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}
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return true;
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}
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// ---------------------------------------------------------------------------------------------------------------------
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void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload, ros::Publisher& pub) {
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if (pub.getNumSubscribers() > 0) {
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fixposition_driver_msgs::NmeaGga msg;

‎fixposition_driver_ros1/src/fixposition_driver_node.cpp‎

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@@ -277,6 +277,17 @@ bool FixpositionDriverNode::StartNode() {
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});
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}
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// NOV_B-HEADING2
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if (params_.MessageEnabled(novb::NOV_B_HEADING2_STRID)) {
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_PUB(novb_heading2_pub_, fixposition_driver_msgs::NovbHeading2, output_ns + "/novb/heading2", 5);
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driver_.AddNovbObserver( //
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novb::NOV_B_HEADING2_STRID, [this](const novb::NovbHeader* header, const uint8_t* payload) {
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if (!PublishNovbHeading2(header, (novb::NovbHeading2*)payload, novb_heading2_pub_)) {
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ROS_WARN_THROTTLE(1.0, "Bad NOV_B-HEADING2");
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}
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});
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}
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// NMEA-GP-GGA
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if (params_.MessageEnabled(nmea::NmeaGgaPayload::FORMATTER)) {
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_PUB(nmea_gga_pub_, fixposition_driver_msgs::NmeaGga, output_ns + "/nmea/gga", 5);
@@ -480,6 +491,7 @@ void FixpositionDriverNode::StopNode() {
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nmea_zda_pub_.shutdown();
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// - NOV_B messages
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novb_inspvax_pub_.shutdown();
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novb_heading2_pub_.shutdown();
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// - Odometry
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odometry_ecef_pub_.shutdown();
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odometry_enu_pub_.shutdown();

‎fixposition_driver_ros2/include/fixposition_driver_ros2/data_to_ros2.hpp‎

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@@ -74,6 +74,9 @@ bool PublishNovbBestgnsspos(const fpsdk::common::parser::novb::NovbHeader* heade
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bool PublishNovbInspvax(const fpsdk::common::parser::novb::NovbHeader* header,
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const fpsdk::common::parser::novb::NovbInspvax* payload,
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rclcpp::Publisher<fpmsgs::NovbInspvax>::SharedPtr& pub);
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bool PublishNovbHeading2(const fpsdk::common::parser::novb::NovbHeader* header,
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const fpsdk::common::parser::novb::NovbHeading2* payload,
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rclcpp::Publisher<fpmsgs::NovbHeading2>::SharedPtr& pub);
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void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload,
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rclcpp::Publisher<fpmsgs::NmeaGga>::SharedPtr& pub);

‎fixposition_driver_ros2/include/fixposition_driver_ros2/fixposition_driver_node.hpp‎

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@@ -90,7 +90,8 @@ class FixpositionDriverNode {
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rclcpp::Publisher<fpmsgs::NmeaVtg>::SharedPtr nmea_vtg_pub_; //!< NMEA-GP-VTG message
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rclcpp::Publisher<fpmsgs::NmeaZda>::SharedPtr nmea_zda_pub_; //!< NMEA-GP-ZDA message
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// - NOV_B messages
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rclcpp::Publisher<fpmsgs::NovbInspvax>::SharedPtr novb_inspvax_pub_; //!< NOV_B-INSPVAX message
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rclcpp::Publisher<fpmsgs::NovbInspvax>::SharedPtr novb_inspvax_pub_; //!< NOV_B-INSPVAX message
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rclcpp::Publisher<fpmsgs::NovbHeading2>::SharedPtr novb_heading2_pub_; //!< NOV_B-HEADING2 message
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// - Odometry
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rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odometry_ecef_pub_; //!< ECEF odometry
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rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odometry_enu_pub_; //!< ENU odometry

‎fixposition_driver_ros2/include/fixposition_driver_ros2/ros2_msgs.hpp‎

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#include <fixposition_driver_msgs/msg/nmea_vtg.hpp>
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#include <fixposition_driver_msgs/msg/nmea_zda.hpp>
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// - NOV-B
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#include <fixposition_driver_msgs/msg/novb_heading2.hpp>
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#include <fixposition_driver_msgs/msg/novb_inspvax.hpp>
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// Shortcut

‎fixposition_driver_ros2/src/data_to_ros2.cpp‎

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@@ -516,6 +516,50 @@ bool PublishNovbInspvax(const novb::NovbHeader* header, const novb::NovbInspvax*
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// ---------------------------------------------------------------------------------------------------------------------
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static void NovbHeading2ToMsg(const novb::NovbHeader* header, const novb::NovbHeading2* payload,
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fpmsgs::NovbHeading2& msg) {
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if ((header != NULL) && (payload != NULL) && header->IsLongHeader()) {
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time::Time stamp;
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if (stamp.SetWnoTow({header->long_header.gps_week, (double)header->long_header.gps_milliseconds * 1e-3,
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time::WnoTow::Sys::GPS})) {
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msg.header.stamp = ros2::utils::ConvTime(stamp);
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}
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msg.sol_status = payload->sol_status;
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msg.pos_type = payload->pos_type;
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msg.length = payload->length;
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msg.heading = payload->heading;
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msg.pitch = payload->pitch;
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msg.reserved = payload->reserved;
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msg.heading_stdev = payload->heading_stdev;
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msg.pitch_stdev = payload->pitch_stdev;
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msg.rover_stn_id = fpsdk::common::string::BufToStr(
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{payload->rover_stn_id, payload->rover_stn_id + sizeof(payload->rover_stn_id)});
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msg.master_stn_id = fpsdk::common::string::BufToStr(
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{payload->master_stn_id, payload->master_stn_id + sizeof(payload->master_stn_id)});
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msg.num_sv_tracked = payload->num_sv_tracked;
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msg.num_sv_in_sol = payload->num_sv_in_sol;
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msg.num_sv_obs = payload->num_sv_obs;
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msg.num_sv_multi = payload->num_sv_multi;
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msg.sol_source = payload->sol_source;
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msg.ext_sol_status = payload->ext_sol_status;
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msg.galileo_beidou_sig_mask = payload->galileo_beidou_sig_mask;
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msg.gps_glonass_sig_mask = payload->gps_glonass_sig_mask;
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}
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}
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bool PublishNovbHeading2(const novb::NovbHeader* header, const novb::NovbHeading2* payload,
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rclcpp::Publisher<fpmsgs::NovbHeading2>::SharedPtr& pub) {
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if (pub->get_subscription_count() > 0) {
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fpmsgs::NovbHeading2 msg;
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NovbHeading2ToMsg(header, payload, msg);
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pub->publish(msg);
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}
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return true;
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}
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// ---------------------------------------------------------------------------------------------------------------------
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void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload,
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rclcpp::Publisher<fpmsgs::NmeaGga>::SharedPtr& pub) {
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if (pub->get_subscription_count() > 0) {

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