twistpublisher.h

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#ifndef TWISTPUBLISHER_H
#define TWISTPUBLISHER_H
 
#include "packetcallback.h"
#include <geometry_msgs/TwistStamped.h>
 
struct TwistPublisher : public PacketCallback
{
    ros::Publisher pub;
    std::string frame_id = DEFAULT_FRAME_ID;
 
 
    TwistPublisher(ros::NodeHandle &node)
    {
        int pub_queue_size = 5;
        ros::param::get("~publisher_queue_size", pub_queue_size);
        pub = node.advertise<geometry_msgs::TwistStamped>("filter/twist", pub_queue_size);
        ros::param::get("~frame_id", frame_id);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsVelocity() && packet.containsCalibratedGyroscopeData())
        {
            geometry_msgs::TwistStamped msg;
 
            msg.header.stamp = timestamp;
            msg.header.frame_id = frame_id;
 
            XsVector v = packet.velocity();
 
            msg.twist.linear.x = v[0];
            msg.twist.linear.y = v[1];
            msg.twist.linear.z = v[2];
 
            XsVector gyro = packet.calibratedGyroscopeData();
            msg.twist.angular.x = gyro[0];
            msg.twist.angular.y = gyro[1];
            msg.twist.angular.z = gyro[2];
 
            pub.publish(msg);
        }
    }
};
 
#endif