imu_sensor_controller.h
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 // Copyright (C) 2013, PAL Robotics S.L.
00004 //
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //   * Redistributions of source code must retain the above copyright notice,
00008 //     this list of conditions and the following disclaimer.
00009 //   * Redistributions in binary form must reproduce the above copyright
00010 //     notice, this list of conditions and the following disclaimer in the
00011 //     documentation and/or other materials provided with the distribution.
00012 //   * Neither the name of PAL Robotics S.L. nor the names of its
00013 //     contributors may be used to endorse or promote products derived from
00014 //     this software without specific prior written permission.
00015 //
00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026 // POSSIBILITY OF SUCH DAMAGE.
00028 
00030 
00031 #ifndef IMU_SENSOR_CONTROLLER_IMU_SENSOR_CONTROLLER_H
00032 #define IMU_SENSOR_CONTROLLER_IMU_SENSOR_CONTROLLER_H
00033 
00034 #include <controller_interface/controller.h>
00035 #include <hardware_interface/imu_sensor_interface.h>
00036 #include <pluginlib/class_list_macros.h>
00037 #include <sensor_msgs/Imu.h>
00038 #include <realtime_tools/realtime_publisher.h>
00039 #include <boost/shared_ptr.hpp>
00040 
00041 namespace imu_sensor_controller
00042 {
00043 
00044 // this controller gets access to the ImuSensorInterface
00045 class ImuSensorController: public controller_interface::Controller<hardware_interface::ImuSensorInterface>
00046 {
00047 public:
00048   ImuSensorController(){}
00049 
00050   virtual bool init(hardware_interface::ImuSensorInterface* hw, ros::NodeHandle &root_nh, ros::NodeHandle& controller_nh);
00051   virtual void starting(const ros::Time& time);
00052   virtual void update(const ros::Time& time, const ros::Duration& /*period*/);
00053   virtual void stopping(const ros::Time& /*time*/);
00054 
00055 private:
00056   std::vector<hardware_interface::ImuSensorHandle> sensors_;
00057   typedef boost::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::Imu> > RtPublisherPtr;
00058   std::vector<RtPublisherPtr> realtime_pubs_;
00059   std::vector<ros::Time> last_publish_times_;
00060   double publish_rate_;
00061 };
00062 
00063 }
00064 
00065 #endif


imu_sensor_controller
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Thu Jun 6 2019 18:58:58