rosaic_node.hpp

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#ifndef ROSAIC_NODE_HPP
#define ROSAIC_NODE_HPP

// ROS includes
#include <ros/console.h>
#include <ros/ros.h>
// tf2 includes
#include <tf2_ros/transform_listener.h>
// ROSaic includes
#include <septentrio_gnss_driver/communication/communication_core.hpp>

namespace rosaic_node {
    class ROSaicNode : ROSaicNodeBase
    {
    public:
        ROSaicNode();

    private:
        bool getROSParams();
        bool validPeriod(uint32_t period, bool isIns);
        void getTransform(const std::string& targetFrame,
                          const std::string& sourceFrame,
                          TransformStampedMsg& T_s_t);
        void getRPY(const QuaternionMsg& qm, double& roll, double& pitch,
                    double& yaw);

        void sendVelocity(const std::string& velNmea);

        io_comm_rx::Comm_IO IO_;
        tf2_ros::Buffer tfBuffer_;
        std::unique_ptr<tf2_ros::TransformListener> tfListener_;
    };
} // namespace rosaic_node

#endif // for ROSAIC_NODE_HPP