Program Listing for File imu.hpp

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#pragma once

#include "depthai_ros_driver/dai_nodes/base_node.hpp"
#include "depthai_ros_msgs/msg/imu_with_magnetic_field.hpp"
#include "rclcpp/publisher.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include "sensor_msgs/msg/magnetic_field.hpp"

namespace dai {
class Pipeline;
class Device;
class DataOutputQueue;
class ADatatype;
namespace node {
class IMU;
class XLinkOut;
}  // namespace node
namespace ros {
class ImuConverter;
}
}  // namespace dai

namespace rclcpp {
class Node;
class Parameter;
}  // namespace rclcpp

namespace depthai_ros_driver {
namespace param_handlers {
class ImuParamHandler;
}
namespace dai_nodes {

class Imu : public BaseNode {
   public:
    explicit Imu(const std::string& daiNodeName, rclcpp::Node* node, std::shared_ptr<dai::Pipeline> pipeline, std::shared_ptr<dai::Device> device);
    ~Imu();
    void updateParams(const std::vector<rclcpp::Parameter>& params) override;
    void setupQueues(std::shared_ptr<dai::Device> device) override;
    void link(dai::Node::Input in, int linkType = 0) override;
    void setNames() override;
    void setXinXout(std::shared_ptr<dai::Pipeline> pipeline) override;
    void closeQueues() override;

   private:
    std::unique_ptr<dai::ros::ImuConverter> imuConverter;
    void imuRosQCB(const std::string& name, const std::shared_ptr<dai::ADatatype>& data);
    void imuDaiRosQCB(const std::string& name, const std::shared_ptr<dai::ADatatype>& data);
    void imuMagQCB(const std::string& name, const std::shared_ptr<dai::ADatatype>& data);
    rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr rosImuPub;
    rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr magPub;
    rclcpp::Publisher<depthai_ros_msgs::msg::ImuWithMagneticField>::SharedPtr daiImuPub;
    std::shared_ptr<dai::node::IMU> imuNode;
    std::unique_ptr<param_handlers::ImuParamHandler> ph;
    std::shared_ptr<dai::DataOutputQueue> imuQ;
    std::shared_ptr<dai::node::XLinkOut> xoutImu;
    std::string imuQName;
};

}  // namespace dai_nodes
}  // namespace depthai_ros_driver