Class RtUsb9axisimuRosDriver
Defined in File rt_usb_9axisimu_driver.hpp
Class Documentation
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class RtUsb9axisimuRosDriver
Public Types
Public Functions
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explicit RtUsb9axisimuRosDriver(std::string serialport)
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RtUsb9axisimuRosDriver(std::unique_ptr<rt_usb_9axisimu::SerialPort> serial_port)
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~RtUsb9axisimuRosDriver()
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void setImuFrameIdName(std::string frame_id)
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void setImuPortName(std::string port)
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void setImuStdDev(double linear_acceleration, double angular_velocity, double magnetic_field)
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bool startCommunication()
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void stopCommunication(void)
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void checkDataFormat(const double timeout = 5.0)
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bool hasAsciiDataFormat(void)
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bool hasBinaryDataFormat(void)
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bool hasRefreshedImuData(void)
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std::unique_ptr<sensor_msgs::msg::Imu> getImuRawDataUniquePtr(const rclcpp::Time timestamp)
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std::unique_ptr<sensor_msgs::msg::MagneticField> getImuMagUniquePtr(const rclcpp::Time timestamp)
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std::unique_ptr<std_msgs::msg::Float64> getImuTemperatureUniquePtr(void)
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ReadStatus readSensorData()
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explicit RtUsb9axisimuRosDriver(std::string serialport)