#include <imu_filter_ros.h>
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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_ |
Definition at line 41 of file imu_filter_ros.h.
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Definition at line 53 of file imu_filter_ros.h.
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Definition at line 54 of file imu_filter_ros.h.
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Definition at line 48 of file imu_filter_ros.h.
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Definition at line 47 of file imu_filter_ros.h.
ImuFilterRos::ImuFilterRos | ( | ros::NodeHandle | nh, |
ros::NodeHandle | nh_private | ||
) |
Definition at line 31 of file imu_filter_ros.cpp.
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Definition at line 156 of file imu_filter_ros.cpp.
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Definition at line 417 of file imu_filter_ros.cpp.
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Definition at line 164 of file imu_filter_ros.cpp.
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Definition at line 408 of file imu_filter_ros.cpp.
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Definition at line 333 of file imu_filter_ros.cpp.
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Definition at line 378 of file imu_filter_ros.cpp.
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Definition at line 391 of file imu_filter_ros.cpp.
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Definition at line 82 of file imu_filter_ros.h.
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Definition at line 81 of file imu_filter_ros.h.
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Definition at line 89 of file imu_filter_ros.h.
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Definition at line 85 of file imu_filter_ros.h.