Simple node which applies a specified heading offset to a standard ROS Imu message and republishes it. More...
#include <ros/ros.h>#include <tf/transform_listener.h>#include "sensor_msgs/Imu.h"#include "std_msgs/Float32.h"#include "geometry_msgs/Vector3Stamped.h"#include "geometry_msgs/QuaternionStamped.h"#include <boost/bind.hpp>
Go to the source code of this file.
Classes | |
| class | DeclinationTransform |
Functions | |
| static void | handle_imu (const sensor_msgs::ImuConstPtr &imu_ptr, const ros::Publisher &pub_imu, const tf::TransformListener &tf_listener, const DeclinationTransform &transform, std::string tf_link) |
| static void | imu_to_frame (const tf::TransformListener &tf_listener, std::string &tf_link, const sensor_msgs::Imu &imu_in, sensor_msgs::Imu &imu_out) |
| int | main (int argc, char **argv) |
Detailed Description
Simple node which applies a specified heading offset to a standard ROS Imu message and republishes it.
- Copyright:
- Copyright (c) 2013, Clearpath Robotics, Inc.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Please send comments, questions, or patches to code@clearpathrobotics.com
Definition in file apply_to_imu.cpp.
Function Documentation
| static void handle_imu | ( | const sensor_msgs::ImuConstPtr & | imu_ptr, |
| const ros::Publisher & | pub_imu, | ||
| const tf::TransformListener & | tf_listener, | ||
| const DeclinationTransform & | transform, | ||
| std::string | tf_link | ||
| ) | [static] |
Definition at line 90 of file apply_to_imu.cpp.
| static void imu_to_frame | ( | const tf::TransformListener & | tf_listener, |
| std::string & | tf_link, | ||
| const sensor_msgs::Imu & | imu_in, | ||
| sensor_msgs::Imu & | imu_out | ||
| ) | [static] |
Definition at line 62 of file apply_to_imu.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 110 of file apply_to_imu.cpp.