Function ouster_ros::packet_to_imu_msg(const ouster_sensor_msgs::msg::PacketMsg&, const rclcpp::Time&, const std::string&, const sensor::packet_format&)

Function Documentation

sensor_msgs::msg::Imu ouster_ros::packet_to_imu_msg(const ouster_sensor_msgs::msg::PacketMsg &pm, const rclcpp::Time &timestamp, const std::string &frame, const sensor::packet_format &pf)

Parse an imu packet message into a ROS imu message

Parameters:

  • pm – [in] packet message 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

  • pf – [in] the packet format

Returns:

ROS sensor message with fields populated from the packet