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tf2_gemometry_msgs as a dep for vn_sensor_msgs; try/catch readGpsCompassBaseline #59

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Apr 12, 2021
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tf2_gemometry_msgs as a dep for vn_sensor_msgs; try/catch readGpsCompassBaseline #59

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4 changes: 2 additions & 2 deletions vectornav/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ target_link_libraries(${PROJECT_NAME} vncxx )

# vn_sensor_msgs
add_executable(vn_sensor_msgs src/vn_sensor_msgs.cc)
ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs)
ament_target_dependencies(vn_sensor_msgs rclcpp sensor_msgs vectornav_msgs tf2_geometry_msgs)

# install
install(TARGETS
Expand All @@ -52,4 +52,4 @@ endif()

ament_export_dependencies(rosidl_default_runtime)

ament_package()
ament_package()
13 changes: 8 additions & 5 deletions vectornav/src/vectornav.cc
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Expand Up @@ -363,14 +363,17 @@ class Vectornav : public rclcpp::Node {

// GPS Compass Baseline
// 8.2.3
auto gps_baseline = vs_.readGpsCompassBaseline();
RCLCPP_INFO(get_logger(), "GPS Baseline : (%f, %f, %f), (%f, %f, %f)",
gps_baseline.position[0], gps_baseline.position[1], gps_baseline.position[2],
gps_baseline.uncertainty[0], gps_baseline.uncertainty[1], gps_baseline.uncertainty[2]);
try {
auto gps_baseline = vs_.readGpsCompassBaseline();
RCLCPP_INFO(get_logger(), "GPS Baseline : (%f, %f, %f), (%f, %f, %f)",
gps_baseline.position[0], gps_baseline.position[1], gps_baseline.position[2],
gps_baseline.uncertainty[0], gps_baseline.uncertainty[1], gps_baseline.uncertainty[2]);

} catch (vn::sensors::sensor_error e) {
RCLCPP_ERROR(get_logger(), "readGpsCompassBaseline: %s", e.what());
}
// Register Binary Data Callback
vs_.registerAsyncPacketReceivedHandler(this, Vectornav::AsyncPacketReceivedHandler);

// Connection Successful
return true;
}
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