Program Listing for File spatial_ros_i.hpp
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/*
* Copyright (c) 2019, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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*/
#ifndef PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP
#define PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP
#include <memory>
#include <mutex>
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>
#include <std_msgs/msg/bool.hpp>
#include <std_srvs/srv/empty.hpp>
#include "phidgets_api/spatial.hpp"
namespace phidgets {
const float G = 9.80665;
class SpatialRosI final : public rclcpp::Node
{
public:
explicit SpatialRosI(const rclcpp::NodeOptions& options);
private:
std::unique_ptr<Spatial> spatial_;
std::string frame_id_;
std::mutex spatial_mutex_;
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr cal_publisher_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr cal_srv_;
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr
magnetic_field_pub_;
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
rclcpp::Time ros_time_zero_;
bool synchronize_timestamps_{true};
uint64_t data_time_zero_ns_{0};
uint64_t last_data_timestamp_ns_{0};
uint64_t last_ros_stamp_ns_{0};
int64_t time_resync_interval_ns_{0};
int64_t data_interval_ns_{0};
bool can_publish_{false};
rclcpp::Time last_cb_time_;
int64_t cb_delta_epsilon_ns_{0};
void calibrate();
void calibrateService(
const std::shared_ptr<std_srvs::srv::Empty::Request> req,
std::shared_ptr<std_srvs::srv::Empty::Response> res);
// Accelerometer
double linear_acceleration_variance_{0.0};
double last_accel_x_{0.0};
double last_accel_y_{0.0};
double last_accel_z_{0.0};
// Gyroscope
double angular_velocity_variance_{0.0};
double last_gyro_x_{0.0};
double last_gyro_y_{0.0};
double last_gyro_z_{0.0};
// Magnetometer
double magnetic_field_variance_{0.0};
double last_mag_x_{0.0};
double last_mag_y_{0.0};
double last_mag_z_{0.0};
void publishLatest();
void spatialDataCallback(const double acceleration[3],
const double angular_rate[3],
const double magnetic_field[3], double timestamp);
void attachCallback();
void detachCallback();
};
} // namespace phidgets
#endif // PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP