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>

Include dependency graph for apply_to_imu.cpp:

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.

Author: Mike Purvis mpurv.nosp@m.is@c.nosp@m.learp.nosp@m.athr.nosp@m.oboti.nosp@m.cs.c.nosp@m.om

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@.nosp@m.clea.nosp@m.rpath.nosp@m.robo.nosp@m.tics..nosp@m.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.

Classes

Functions

Detailed Description

Function Documentation