Class IMUSensorBroadcaster

• Defined in File imu_sensor_broadcaster.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Class Documentation

class IMUSensorBroadcaster : public controller_interface::ControllerInterface

Public Functions

IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration () const override

IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration () const override

IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_init () override

IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::return_type update (const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Types

using StatePublisher = realtime_tools::RealtimePublisher<sensor_msgs::msg::Imu>

Protected Attributes

std::shared_ptr<ParamListener> param_listener_

Params params_

std::unique_ptr<semantic_components::IMUSensor> imu_sensor_

rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr sensor_state_publisher_

std::unique_ptr<StatePublisher> realtime_publisher_