ImuFilterRos Class Reference

#include <imu_filter_ros.h>

Public Member Functions
	ImuFilterRos (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~ImuFilterRos ()

Private Types
typedef imu_filter_madgwick::ImuFilterMadgwickConfig	FilterConfig
typedef dynamic_reconfigure::Server< FilterConfig >	FilterConfigServer
typedef sensor_msgs::Imu	ImuMsg
typedef message_filters::Subscriber< ImuMsg >	ImuSubscriber
typedef sensor_msgs::MagneticField	MagMsg
typedef message_filters::Subscriber< MagMsg >	MagSubscriber
typedef geometry_msgs::Vector3Stamped	MagVectorMsg
typedef message_filters::Subscriber< MagVectorMsg >	MagVectorSubscriber
typedef message_filters::Synchronizer< SyncPolicy >	Synchronizer
typedef message_filters::sync_policies::ApproximateTime< ImuMsg, MagMsg >	SyncPolicy

Private Member Functions
void	checkTopicsTimerCallback (const ros::TimerEvent &)
void	imuCallback (const ImuMsg::ConstPtr &imu_msg_raw)
void	imuMagCallback (const ImuMsg::ConstPtr &imu_msg_raw, const MagMsg::ConstPtr &mav_msg)
void	imuMagVectorCallback (const MagVectorMsg::ConstPtr &mag_vector_msg)
void	publishFilteredMsg (const ImuMsg::ConstPtr &imu_msg_raw)
void	publishRawMsg (const ros::Time &t, float roll, float pitch, float yaw)
void	publishTransform (const ImuMsg::ConstPtr &imu_msg_raw)
void	reconfigCallback (FilterConfig &config, uint32_t level)

Private Attributes
ros::Timer	check_topics_timer_
boost::shared_ptr< FilterConfigServer >	config_server_
double	constant_dt_
ImuFilter	filter_
std::string	fixed_frame_
std::string	imu_frame_
ros::Publisher	imu_publisher_
boost::shared_ptr< ImuSubscriber >	imu_subscriber_
bool	initialized_
ros::Time	last_time_
geometry_msgs::Vector3	mag_bias_
ros::Publisher	mag_republisher_
boost::shared_ptr< MagSubscriber >	mag_subscriber_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
double	orientation_variance_
bool	publish_debug_topics_
bool	publish_tf_
bool	remove_gravity_vector_
bool	reverse_tf_
ros::Publisher	rpy_filtered_debug_publisher_
ros::Publisher	rpy_raw_debug_publisher_
bool	stateless_
boost::shared_ptr< Synchronizer >	sync_
tf2_ros::TransformBroadcaster	tf_broadcaster_
bool	use_mag_
bool	use_magnetic_field_msg_
boost::shared_ptr< MagVectorSubscriber >	vector_mag_subscriber_
WorldFrame::WorldFrame	world_frame_

Detailed Description

Definition at line 41 of file imu_filter_ros.h.

Member Typedef Documentation

typedef imu_filter_madgwick::ImuFilterMadgwickConfig ImuFilterRos::FilterConfig

private

Definition at line 53 of file imu_filter_ros.h.

typedef dynamic_reconfigure::Server<FilterConfig> ImuFilterRos::FilterConfigServer

private

Definition at line 54 of file imu_filter_ros.h.

typedef sensor_msgs::Imu ImuFilterRos::ImuMsg

private

Definition at line 43 of file imu_filter_ros.h.

typedef message_filters::Subscriber<ImuMsg> ImuFilterRos::ImuSubscriber

private

Definition at line 49 of file imu_filter_ros.h.

typedef sensor_msgs::MagneticField ImuFilterRos::MagMsg

private

Definition at line 44 of file imu_filter_ros.h.

typedef message_filters::Subscriber<MagMsg> ImuFilterRos::MagSubscriber

private

Definition at line 50 of file imu_filter_ros.h.

typedef geometry_msgs::Vector3Stamped ImuFilterRos::MagVectorMsg

private

Definition at line 45 of file imu_filter_ros.h.

typedef message_filters::Subscriber<MagVectorMsg> ImuFilterRos::MagVectorSubscriber

private

Definition at line 51 of file imu_filter_ros.h.

typedef message_filters::Synchronizer<SyncPolicy> ImuFilterRos::Synchronizer

private

Definition at line 48 of file imu_filter_ros.h.

typedef message_filters::sync_policies::ApproximateTime<ImuMsg, MagMsg> ImuFilterRos::SyncPolicy

private

Definition at line 47 of file imu_filter_ros.h.

Constructor & Destructor Documentation

ImuFilterRos::ImuFilterRos	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 31 of file imu_filter_ros.cpp.

ImuFilterRos::~ImuFilterRos ( )

virtual

Definition at line 156 of file imu_filter_ros.cpp.

Member Function Documentation

void ImuFilterRos::checkTopicsTimerCallback ( const ros::TimerEvent &  )

private

Definition at line 417 of file imu_filter_ros.cpp.

void ImuFilterRos::imuCallback ( const ImuMsg::ConstPtr &  imu_msg_raw )

private

Definition at line 164 of file imu_filter_ros.cpp.

void ImuFilterRos::imuMagCallback ( const ImuMsg::ConstPtr &  imu_msg_raw, const MagMsg::ConstPtr &  mav_msg  )

private

Definition at line 220 of file imu_filter_ros.cpp.

void ImuFilterRos::imuMagVectorCallback ( const MagVectorMsg::ConstPtr &  mag_vector_msg )

private

Definition at line 408 of file imu_filter_ros.cpp.

void ImuFilterRos::publishFilteredMsg ( const ImuMsg::ConstPtr &  imu_msg_raw )

private

Definition at line 333 of file imu_filter_ros.cpp.

void ImuFilterRos::publishRawMsg ( const ros::Time &  t, float  roll, float  pitch, float  yaw  )

private

Definition at line 378 of file imu_filter_ros.cpp.

void ImuFilterRos::publishTransform ( const ImuMsg::ConstPtr &  imu_msg_raw )

private

Definition at line 306 of file imu_filter_ros.cpp.

void ImuFilterRos::reconfigCallback ( FilterConfig &  config, uint32_t  level  )

private

Definition at line 391 of file imu_filter_ros.cpp.

Member Data Documentation

ros::Timer ImuFilterRos::check_topics_timer_

private

Definition at line 82 of file imu_filter_ros.h.

boost::shared_ptr<FilterConfigServer> ImuFilterRos::config_server_

private

Definition at line 81 of file imu_filter_ros.h.

double ImuFilterRos::constant_dt_

private

Definition at line 93 of file imu_filter_ros.h.

ImuFilter ImuFilterRos::filter_

private

Definition at line 105 of file imu_filter_ros.h.

std::string ImuFilterRos::fixed_frame_

private

Definition at line 91 of file imu_filter_ros.h.

std::string ImuFilterRos::imu_frame_

private

Definition at line 92 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::imu_publisher_

private

Definition at line 78 of file imu_filter_ros.h.

boost::shared_ptr<ImuSubscriber> ImuFilterRos::imu_subscriber_

private

Definition at line 68 of file imu_filter_ros.h.

bool ImuFilterRos::initialized_

private

Definition at line 101 of file imu_filter_ros.h.

ros::Time ImuFilterRos::last_time_

private

Definition at line 102 of file imu_filter_ros.h.

geometry_msgs::Vector3 ImuFilterRos::mag_bias_

private

Definition at line 96 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::mag_republisher_

private

Definition at line 74 of file imu_filter_ros.h.

boost::shared_ptr<MagSubscriber> ImuFilterRos::mag_subscriber_

private

Definition at line 69 of file imu_filter_ros.h.

boost::mutex ImuFilterRos::mutex_

private

Definition at line 100 of file imu_filter_ros.h.

ros::NodeHandle ImuFilterRos::nh_

private

Definition at line 65 of file imu_filter_ros.h.

ros::NodeHandle ImuFilterRos::nh_private_

private

Definition at line 66 of file imu_filter_ros.h.

double ImuFilterRos::orientation_variance_

private

Definition at line 97 of file imu_filter_ros.h.

bool ImuFilterRos::publish_debug_topics_

private

Definition at line 94 of file imu_filter_ros.h.

bool ImuFilterRos::publish_tf_

private

Definition at line 89 of file imu_filter_ros.h.

bool ImuFilterRos::remove_gravity_vector_

private

Definition at line 95 of file imu_filter_ros.h.

bool ImuFilterRos::reverse_tf_

private

Definition at line 90 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::rpy_filtered_debug_publisher_

private

Definition at line 76 of file imu_filter_ros.h.

ros::Publisher ImuFilterRos::rpy_raw_debug_publisher_

private

Definition at line 77 of file imu_filter_ros.h.

bool ImuFilterRos::stateless_

private

Definition at line 88 of file imu_filter_ros.h.

boost::shared_ptr<Synchronizer> ImuFilterRos::sync_

private

Definition at line 70 of file imu_filter_ros.h.

tf2_ros::TransformBroadcaster ImuFilterRos::tf_broadcaster_

private

Definition at line 79 of file imu_filter_ros.h.

bool ImuFilterRos::use_mag_

private

Definition at line 86 of file imu_filter_ros.h.

bool ImuFilterRos::use_magnetic_field_msg_

private

Definition at line 87 of file imu_filter_ros.h.

boost::shared_ptr<MagVectorSubscriber> ImuFilterRos::vector_mag_subscriber_

private

Definition at line 73 of file imu_filter_ros.h.

WorldFrame::WorldFrame ImuFilterRos::world_frame_

private

Definition at line 85 of file imu_filter_ros.h.

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The documentation for this class was generated from the following files:

• imu_filter_ros.h
• imu_filter_ros.cpp