Function ouster_ros::packet_to_imu_msgs

• Defined in File os_ros.h

Function Documentation

std::vector<sensor_msgs::msg::Imu> ouster_ros::packet_to_imu_msgs(const ouster::sdk::core::ImuPacket &imu_packet, const std::string &frame, const rclcpp::Time &timestamp, const ouster::sdk::core::SensorInfo &sensor_info)

Parse an imu packet message into a ROS imu message

Parameters:

• imu_packet – [in] the raw IMU packet populated by read_imu_packet

• timestamp – [in] the timestamp to give the resulting ROS message

• frame – [in] the frame to set in the resulting ROS message

• sensor_info – [in] the sensor information

Returns:

ROS sensor message with fields populated from the packet