rosaic_node.hpp
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58 
59 #ifndef ROSAIC_NODE_HPP
60 #define ROSAIC_NODE_HPP
61 
68 // ROS includes
69 #include <ros/ros.h>
70 #include <ros/console.h>
71 // tf2 includes
73 // ROSaic includes
75 
81 namespace rosaic_node {
87  {
88  public:
92  ROSaicNode();
93 
94  private:
101  bool getROSParams();
108  void getTransform(const std::string& targetFrame, const std::string& sourceFrame, TransformStampedMsg& T_s_t);
116  void getRPY(const QuaternionMsg& qm, double& roll, double& pitch, double& yaw);
117 
124  std::unique_ptr<tf2_ros::TransformListener> tfListener_;
125  };
126 } // namespace rosaic_node
127 
128 #endif // for ROSAIC_NODE_HPP
This class represents the ROsaic node, to be extended..
Definition: rosaic_node.hpp:86
geometry_msgs::TransformStamped TransformStampedMsg
Definition: typedefs.hpp:86
Highest-Level view on communication services.
void getTransform(const std::string &targetFrame, const std::string &sourceFrame, TransformStampedMsg &T_s_t)
Gets transforms from tf2.
bool getROSParams()
Gets the node parameters from the ROS Parameter Server, parts of which are specified in a YAML file...
Definition: rosaic_node.cpp:79
Settings settings_
Settings.
io_comm_rx::Comm_IO IO_
Handles communication with the Rx.
Settings struct.
Definition: rx_message.hpp:135
geometry_msgs::Quaternion QuaternionMsg
Definition: typedefs.hpp:84
void getRPY(const QuaternionMsg &qm, double &roll, double &pitch, double &yaw)
Gets Euler angles from quaternion message.
This class is the base class for abstraction.
Definition: typedefs.hpp:160
std::unique_ptr< tf2_ros::TransformListener > tfListener_
tf2_ros::Buffer tfBuffer_
tf2 buffer and listener
Handles communication with and configuration of the mosaic (and beyond) receiver(s) ...


septentrio_gnss_driver
Author(s): Tibor Dome
autogenerated on Thu Jun 23 2022 02:11:38