imu.h

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#ifndef MULTISENSE_ROS_IMU_H
#define MULTISENSE_ROS_IMU_H
 
#include <mutex>
 
#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
 
    std::mutex sub_lock_;
    int32_t total_subscribers_;
    void startStreams();
    void stopStreams();
 
    //
    // TF prefix and frame ID's
    const std::string tf_prefix_;
    std::string accel_frameId_;
    std::string gyro_frameId_;
    std::string mag_frameId_;
 
    bool next_gen_camera_;
 
};
 
}
 
#endif