ark::ins::SwiftPublisherSet

Defined in header “ark/ins/swift/stages/swift_interface_stage.hh”.

The swift has two message streams, one with the INS active, and one without. This allows us to group together publishers in either one.

Variables

  • pipeline::PublisherPtr< gps::GpsFix > gps_publisher_
    Publishes GPS data.

  • pipeline::PublisherPtr< ins::EcefVelocity > ecef_velocity_publisher_
    Publishes ECEF velocity data.

  • pipeline::PublisherPtr< ins::LocalNedVelocity > ned_velocity_publisher_
    Publishes NED velocity data.

  • pipeline::PublisherPtr< ins::BodyVelocity > body_velocity_publisher_
    Publishes body velocity data.

  • pipeline::PublisherPtr< ins::BodyEulerOrientation > orientation_publisher_
    Publishes the orientation data.

  • pipeline::PublisherPtr< ins::GeodeticCoordinate > geodetic_coordinate_publisher_
    Publishes the pose data.

  • pipeline::PublisherPtr< ins::BaselineSolutionNed > baseline_solution_publisher_
    Publishes the solution data.