imu.h

Go to the documentation of this file.

#ifndef MULTISENSE_ROS_IMU_H
#define MULTISENSE_ROS_IMU_H

#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>
#include <ros/ros.h>

#include <sensor_msgs/Imu.h>
#include <geometry_msgs/Vector3Stamped.h>

#include <multisense_lib/MultiSenseChannel.hh>

namespace multisense_ros {

class Imu {
public:

    Imu(crl::multisense::Channel* driver, std::string tf_prefix);
    ~Imu();

    void imuCallback(const crl::multisense::imu::Header& header);

private:

    //
    // CRL sensor API

    crl::multisense::Channel* driver_;

    //
    // Driver nodes

    ros::NodeHandle device_nh_;
    ros::NodeHandle imu_nh_;

    //
    // multisense_ros/RawImuData publishers

    ros::Publisher accelerometer_pub_;
    ros::Publisher gyroscope_pub_;
    ros::Publisher magnetometer_pub_;

    //
    // sensor_msgs/Imu publisher
    ros::Publisher imu_pub_;

    //
    // geometry_msgs/Vector3Stamped publishers
    ros::Publisher accelerometer_vector_pub_;
    ros::Publisher gyroscope_vector_pub_;
    ros::Publisher magnetometer_vector_pub_;

    //
    // IMU message
    sensor_msgs::Imu imu_message_;

    //
    // Publish control

    boost::mutex sub_lock_;
    int32_t total_subscribers_;
    void startStreams();
    void stopStreams();

    //
    // TF prefix and frame ID's
    const std::string tf_prefix_;
    const std::string accel_frameId_;
    const std::string gyro_frameId_;
    const std::string mag_frameId_;

};

}

#endif