Fraunhofer-IIS/gnss — pull request #4 by aamalik (2013-08-30 15:38:12+00:00)
Title: Msgs

Almost all the message files for the components of rtklib have been written here. I have not implemented time which is instance of a struct gtime_t in my main_aisehe.cpp file. After doing romake, I get an error which I believe deal mostly with the file rtcm.cpp. In previous version of rtklib without patches there was only one rtcm file but in the latest version of rtklib they divided the rtcm file into 2-3 files namely rtcm2 and rtcm3 and added more functionality to it. After searching for the error I think it deals with issues with extern, static and making local functions inside another function.

Another thing is that I did not implement navigmsg.lexion.coef which should be implemented.
Also some components of pcv_t (satellite antenna line 164 main_aisehe.cpp file) are missing like navigmsg.pcvs[i].* .
All of sbssat(SBAS satellite corrections type) is implemented. The comment with it is misleading

Mostly the letters I have used like a,b,c ....,o are just used as ints to iterate for for() Loops.

There are 3 functions (obsfunc, navmsgfunc, raw2ros) which are called inside main. In ROS one can make and destroy as many nodehandlers as possible((so can call them in functions) but one cannot do the same with publishers. Publishers should be made once and should not be destroyed(care taken to avoid putting them in a loops).