timereferencepublisher.h

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#ifndef TIMEREFERENCEPUBLISHER_H
#define TIMEREFERENCEPUBLISHER_H
 
#include "packetcallback.h"
#include <sensor_msgs/TimeReference.h>
 
struct TimeReferencePublisher : public PacketCallback
{
    ros::Publisher pub;
 
    TimeReferencePublisher(ros::NodeHandle &node)
    {
        int pub_queue_size = 5;
        ros::param::get("~publisher_queue_size", pub_queue_size);
        pub = node.advertise<sensor_msgs::TimeReference>("imu/time_ref", pub_queue_size);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsSampleTimeFine())
        {
            const uint32_t SAMPLE_TIME_FINE_HZ = 10000UL;
            const uint32_t ONE_GHZ = 1000000000UL;
            uint32_t sec, nsec, t_fine;
            sensor_msgs::TimeReference msg;
 
            t_fine = packet.sampleTimeFine();
            sec = t_fine / SAMPLE_TIME_FINE_HZ;
            nsec = (t_fine % SAMPLE_TIME_FINE_HZ) * (ONE_GHZ / SAMPLE_TIME_FINE_HZ);
 
            if (packet.containsSampleTimeCoarse())
            {
                sec = packet.sampleTimeCoarse();
            }
 
            ros::Time sample_time(sec, nsec);
 
            msg.header.stamp = timestamp;
            // msg.header.frame_id = unused
            msg.time_ref = sample_time;
            // msg.source = optional
 
            pub.publish(msg);
        }
    }
};
 
#endif