Subscribers

The following topics are subscribed to by the node. Most are controlled by individual booleans in the configuration and need to be enabled in order to be subscribed to

• /rtcm rtcm_msgs/Message
  • Will be enabled if ntrip_interface_enable is true and the device is a GQ7. Will subscribe to RTCM in order to pass to the aux port of the GQ7
• /ext/time sensor_msgs/TimeReference
  • Will be enabled if subscribe_ext_time is true and the device supports external GPS time updates. Will subscribe to external time updates and send them to the device.
  • NOTE: The time update command should be done once a second within the top 250 milliseconds of the second.
• /ext/llh_position sensor_msgs/NavSatFix
  • Will be enabled if subscribe_ext_fix is true and the device supports the LLH position aiding command. Will subscribe to external LLH position and send it to the device.
• /ext/velocity_ned geometry_msgs/TwistWithCovarianceStamped
  • Will be enabled if subscribe_ext_vel_ned is true and the device supports the NED velocity aiding command. Will subscribe to external NED velocity and send it to the device.
• /ext/velocity_enu geometry_msgs/TwistWithCovarianceStamped
  • Will be enabled if subscribe_ext_vel_enu is true and the device supports the NED velocity aiding command. Will subscribe to external ENU velocity and send it to the device.
• /ext/velocity_ecef geometry_msgs/TwistWithCovarianceStamped
  • Will be enabled if subscribe_ext_vel_ecef is true and the device supports the ECEF velocity aiding command. Will subscribe to external ECEF velocity and send it to the device.
• /ext/velocity_body geometry_msgs/TwistWithCovarianceStamped
  • Will be enabled if subscribe_ext_vel_body is true and the device supports the body velocity aiding command. Will subscribe to external body velocity and send it to the device.
• /ext/heading_ned geometry_msgs/PoseWithCovarianceStamped
  • Will be enabled if subscribe_ext_heading_ned is true and the device supports the true heading aiding command. Will subscribe to external heading in the NED frame and send it to the device.
• /ext/heading_enu geometry_msgs/PoseWithCovarianceStamped
  • Will be enabled if subscribe_ext_heading_enu is true and the device supports the true heading aiding command. Will subscribe to external heading in the ENU frame and send it to the device.
• /ext/mag sensor_msgs/MagneticField
  • Will be enabled if subscribe_ext_mag is true and the device supports the magnetic field aiding command. Will subscribe to external magnetic field data and send it to the device.
• /ext/pressure sensor_msgs/FluidPressure
  • Will be enabled if subscribe_ext_pressure is true and the device supports the pressure aiding command. Will subscribe to external pressure data and send it to the device.