display_rviz2_pckg.rviz2_gps_visualization

Node ROS 2 to display all the GPS-RTK in the system in RViz2.

Module Contents

Classes

Rviz2GpsVisualization

Class of rviz2_gps_visualization node.

Functions

main

ROS 2 node main.

API

class display_rviz2_pckg.rviz2_gps_visualization.Rviz2GpsVisualization

Bases: rclpy.node.Node

Class of rviz2_gps_visualization node.

Initialization

Constructor taking a dynamic parameter ROS 2 for agent names in the system using RTK GPS.

Parameters:

agents_name (list[str]) – [ROS 2 param] List of agent names in the system, equipped with RTK GPS, defaults to [‘’]

listener_callback(msg_gps_rcv, topic_name)

Subscriber collecting the various GPS data, to create 4 publishers for RViz2.

All our 4 publishers are in the same callback, so execution time is higher, but remains reasonable for display (5 ms). So there’s no need to make multiple separate nodes in parallel.

Parameters:

  • msg_gps_rcv – Message received in SatMsgRcv format

  • topic_name (str) – Name of our current subscriber’s topic, allowing us to publish in the correct publishers

Returns:

None

display_rviz2_pckg.rviz2_gps_visualization.main(args=None)

ROS 2 node main.