IMU data publication plugin. More...
Inheritance diagram for mavplugin::IMUPubPlugin:
Public Member Functions | |
| std::string const | get_name () const |
| Plugin name (CamelCase) | |
| const message_map | get_rx_handlers () |
| Return map with message rx handlers. | |
| IMUPubPlugin () | |
| void | initialize (UAS &uas_, ros::NodeHandle &nh, diagnostic_updater::Updater &diag_updater) |
| Plugin initializer. | |
Private Member Functions | |
| void | fill_imu_msg_attitude (sensor_msgs::ImuPtr &imu_msg, tf::Quaternion &orientation, double xg, double yg, double zg) |
| fill imu/data message | |
| void | fill_imu_msg_raw (sensor_msgs::ImuPtr &imu_msg, double xg, double yg, double zg, double xa, double ya, double za) |
| fill imu/data_raw message, store linear acceleration for imu/data | |
| void | handle_attitude (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | handle_attitude_quaternion (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | handle_highres_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | handle_raw_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | handle_scaled_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | handle_scaled_pressure (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) |
| void | setup_covariance (boost::array< double, 9 > &cov, double stdev) |
| void | uas_store_attitude (tf::Quaternion &orientation, geometry_msgs::Vector3 &gyro_vec, geometry_msgs::Vector3 &acc_vec) |
Private Attributes | |
| boost::array< double, 9 > | angular_velocity_cov |
| std::string | frame_id |
| bool | has_att_quat |
| bool | has_hr_imu |
| bool | has_scaled_imu |
| ros::Publisher | imu_pub |
| ros::Publisher | imu_raw_pub |
| geometry_msgs::Vector3 | linear_accel_vec |
| boost::array< double, 9 > | linear_acceleration_cov |
| ros::Publisher | magn_pub |
| boost::array< double, 9 > | magnetic_cov |
| boost::array< double, 9 > | orientation_cov |
| ros::Publisher | press_pub |
| ros::Publisher | temp_pub |
| UAS * | uas |
| boost::array< double, 9 > | unk_orientation_cov |
Static Private Attributes | |
| static constexpr double | GAUSS_TO_TESLA = 1.0e-4 |
| static constexpr double | MILLIBAR_TO_PASCAL = 1.0e2 |
| static constexpr double | MILLIG_TO_MS2 = 9.80665 / 1000.0 |
| static constexpr double | MILLIRS_TO_RADSEC = 1.0e-3 |
| static constexpr double | MILLIT_TO_TESLA = 1000.0 |
Detailed Description
IMU data publication plugin.
Definition at line 43 of file imu_pub.cpp.
The documentation for this class was generated from the following file: