Class Gimbal
Defined in File sensor.hpp
Inheritance Relationships
Base Types
public as2::sensors::TFStatic(Class TFStatic)protected as2::sensors::TFDynamic(Class TFDynamic)protected as2::sensors::GenericSensor(Class GenericSensor)protected as2::sensors::SensorData< geometry_msgs::msg::PoseStamped >(Template Class SensorData)
Class Documentation
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class Gimbal : public as2::sensors::TFStatic, protected as2::sensors::TFDynamic, protected as2::sensors::GenericSensor, protected as2::sensors::SensorData<geometry_msgs::msg::PoseStamped>
Class to handle the gimbal sensor.
Public Functions
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explicit Gimbal(const std::string &gimbal_id, const std::string &gimbal_base_id, as2::Node *node_ptr, const float pub_freq = -1.0f, bool add_sensor_measurements_base = true)
Construct a new Gimbal object.
- Parameters:
gimbal_id – Frame ID of the gimbal
gimbal_base_id – Frame ID of the gimbal base
node_ptr – Pointer to the node
pub_freq – Frequency to publish the data (-1 to publish every time updateData is called)
add_sensor_measurements_base – Add “sensor_measurements” to the topic name
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void setGimbalBaseTransform(const geometry_msgs::msg::Transform &gimbal_base_transform, const std::string &gimbal_parent_frame_id = "base_link")
Set the gimbal base transformation respect to the parent frame.
- Parameters:
gimbal_base_transform – Transform message
gimbal_parent_frame_id – Parent frame ID (default is “base_link”)
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void updateData(const geometry_msgs::msg::PoseStamped &pose_msg)
Update the gimbal transformation respect to the base.
- Parameters:
pose_msg – Pose message
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void updateData(const geometry_msgs::msg::QuaternionStamped &orientation_msg)
Update the gimbal transformation respect to the base.
- Parameters:
pose_msg – Pose message
Protected Functions
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virtual void publishData()
Publish the data in a topic and in TF.
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explicit Gimbal(const std::string &gimbal_id, const std::string &gimbal_base_id, as2::Node *node_ptr, const float pub_freq = -1.0f, bool add_sensor_measurements_base = true)