Class RtUsb9axisimuRosDriver

• Defined in File rt_usb_9axisimu_driver.hpp

Inheritance Relationships

Base Type

• public rt_usb_9axisimu::SerialPort (Class SerialPort)

Class Documentation

class RtUsb9axisimuRosDriver : public rt_usb_9axisimu::SerialPort

Public Functions

explicit RtUsb9axisimuRosDriver(std::string serialport)

~RtUsb9axisimuRosDriver()

void setImuFrameIdName(std::string frame_id)

void setImuPortName(std::string port)

void setImuStdDev(double linear_acceleration, double angular_velocity, double magnetic_field)

bool startCommunication()

void stopCommunication(void)

void checkDataFormat(void)

bool hasCompletedFormatCheck(void)

bool hasAsciiDataFormat(void)

bool hasBinaryDataFormat(void)

bool hasRefreshedImuData(void)

std::unique_ptr<sensor_msgs::msg::Imu> getImuRawDataUniquePtr(const rclcpp::Time timestamp)

std::unique_ptr<sensor_msgs::msg::MagneticField> getImuMagUniquePtr(const rclcpp::Time timestamp)

std::unique_ptr<std_msgs::msg::Float64> getImuTemperatureUniquePtr(void)

bool readSensorData()