piksi_driver.py 文件源码

def setup_pubsub(self):

        freq_params = diagnostic_updater.FrequencyStatusParam({'min':self.diag_update_freq, 'max':self.diag_update_freq}, self.diag_freq_tolerance, self.diag_window_size)
        time_params = diagnostic_updater.TimeStampStatusParam(self.diag_min_delay, self.diag_max_delay)

        self.pub_fix = rospy.Publisher("~fix", NavSatFix, queue_size=1000)

        self.pub_spp_fix = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~spp_fix", NavSatFix, queue_size=1000), self.diag_updater, freq_params, time_params)

        self.pub_rtk_fix = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~rtk_fix", NavSatFix, queue_size=1000), self.diag_updater, freq_params, time_params)
        #self.pub_rtk = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~rtk_odom", Odometry, queue_size=1000), self.diag_updater, freq_params, time_params)
        self.pub_odom = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~odom", Odometry, queue_size=1000), self.diag_updater, freq_params, time_params)
        self.pub_time = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~time", TimeReference, queue_size=1000), self.diag_updater, freq_params, time_params)

        if self.publish_utm_rtk_tf or self.publish_rtk_child_tf:
            self.tf_br = tf2_ros.TransformBroadcaster()

        if self.publish_ephemeris:
            self.pub_eph = rospy.Publisher("~ephemeris", Ephemeris, queue_size=1000)

        if self.publish_observations:
            self.pub_obs = rospy.Publisher('~observations', Observations, queue_size=1000)