pressurepublisher.h

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#ifndef PRESSUREPUBLISHER_H
#define PRESSUREPUBLISHER_H
 
#include "packetcallback.h"
#include <sensor_msgs/FluidPressure.h>
 
struct PressurePublisher : public PacketCallback
{
    ros::Publisher pub;
    std::string frame_id = DEFAULT_FRAME_ID;
 
 
    PressurePublisher(ros::NodeHandle &node)
    {
        int pub_queue_size = 5;
        ros::param::get("~publisher_queue_size", pub_queue_size);
        pub = node.advertise<sensor_msgs::FluidPressure>("pressure", pub_queue_size);
        ros::param::get("~frame_id", frame_id);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsPressure())
        {
            sensor_msgs::FluidPressure msg;
 
            msg.header.stamp = timestamp;
            msg.header.frame_id = frame_id;
 
            XsPressure sample = packet.pressure();
            msg.fluid_pressure = sample.m_pressure;
            msg.variance = 0; // unknown
            // unused sample.m_pressureAge, age in samples
 
            pub.publish(msg);
        }
    }
};
 
#endif