mtiG.h

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#include <xsensdeviceapi.h>

#include <ros/ros.h>
#include <ros/console.h>

#include <stdlib.h>
#include <getopt.h>
#include <string>

#include <sensorData.h>
#include <messageMaker.h>

#define THROTTLE_VALUE 10
#define FRAME_ID_STRING "xsens"
// Frame Id used in message headers

class mtiG{     
        private:         
        int override_settings;
        
        XsDevice * device;
        MessageMaker * messageMaker;
        SensorData sensorData;
        outputSettings mSettings;

        

        //Publishers
        ros::Publisher imuPublisher;
        ros::Publisher gpsPublisher;
        ros::Publisher velPublisher;
        ros::Publisher gpsVelPublisher;
        ros::Publisher tempPublisher;
        ros::Publisher magFieldPub;
        ros::Publisher pressurePublisher;
        ros::Publisher gpsInfoPublisher;
        ros::Publisher rpyPublisher;
                

        void printSettings();


        void parseOptions(int argc, char** argv);

        public:
                
        
        //Function
                
        //Constructors
        mtiG(XsDevice * _device );
        mtiG(XsDevice * _device, int argc, char ** argv);
        void configure();
        void fillData(XsDataPacket *);
                
        void advertise();
        void publish();
        void readSettings();
};