mtiG.h
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00001 
00014 #include <xsensdeviceapi.h>
00015 
00016 #include <ros/ros.h>
00017 #include <ros/console.h>
00018 
00019 #include <stdlib.h>
00020 #include <getopt.h>
00021 #include <string>
00022 
00023 #include <sensorData.h>
00024 #include <messageMaker.h>
00025 
00026 #define THROTTLE_VALUE 10
00027 #define FRAME_ID_STRING "xsens"
00028 // Frame Id used in message headers
00029 
00030 class mtiG{     
00031         private:         
00032         int override_settings;
00033         
00034         XsDevice * device;
00035         MessageMaker * messageMaker;
00036         SensorData sensorData;
00037         outputSettings mSettings;
00038 
00039         
00040 
00041         //Publishers
00042         ros::Publisher imuPublisher;
00043         ros::Publisher gpsPublisher;
00044         ros::Publisher velPublisher;
00045         ros::Publisher gpsVelPublisher;
00046         ros::Publisher tempPublisher;
00047         ros::Publisher magFieldPub;
00048         ros::Publisher pressurePublisher;
00049         ros::Publisher gpsInfoPublisher;
00050         ros::Publisher rpyPublisher;
00051                 
00052 
00053         void printSettings();
00054 
00055 
00056         void parseOptions(int argc, char** argv);
00057 
00058         public:
00059                 
00060         
00061         //Function
00062                 
00063         //Constructors
00064         mtiG(XsDevice * _device );
00065         mtiG(XsDevice * _device, int argc, char ** argv);
00066         void configure();
00067         void fillData(XsDataPacket *);
00068                 
00069         void advertise();
00070         void publish();
00071         void readSettings();
00072 };
00073         


mtig_driver
Author(s): Lucas Casanova Nogueira
autogenerated on Thu Jun 6 2019 18:25:27