vibration.cpp

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/*
 * Copyright 2015 Nuno Marques.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <mavros/mavros_plugin.h>
#include <eigen_conversions/eigen_msg.h>

#include <mavros_msgs/Vibration.h>

namespace mavros {
namespace extra_plugins {
class VibrationPlugin : public plugin::PluginBase {
public:
        VibrationPlugin() : PluginBase(),
                vibe_nh("~vibration")
        { }

        void initialize(UAS &uas_)
        {
                PluginBase::initialize(uas_);

                vibe_nh.param<std::string>("frame_id", frame_id, "base_link");

                vibration_pub = vibe_nh.advertise<mavros_msgs::Vibration>("raw/vibration", 10);
        }

        Subscriptions get_subscriptions()
        {
                return {
                               make_handler(&VibrationPlugin::handle_vibration)
                };
        }

private:
        ros::NodeHandle vibe_nh;

        std::string frame_id;

        ros::Publisher vibration_pub;

        void handle_vibration(const mavlink::mavlink_message_t *msg, mavlink::common::msg::VIBRATION &vibration)
        {
                auto vibe_msg = boost::make_shared<mavros_msgs::Vibration>();

                vibe_msg->header = m_uas->synchronized_header(frame_id, vibration.time_usec);

                Eigen::Vector3d vib_enu = {vibration.vibration_x, vibration.vibration_y, vibration.vibration_z};
                tf::vectorEigenToMsg(ftf::transform_frame_ned_enu(vib_enu), vibe_msg->vibration);

                vibe_msg->clipping[0] = vibration.clipping_0;
                vibe_msg->clipping[1] = vibration.clipping_1;
                vibe_msg->clipping[2] = vibration.clipping_2;

                vibration_pub.publish(vibe_msg);
        }
};
}       // namespace extra_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mavros::extra_plugins::VibrationPlugin, mavros::plugin::PluginBase)