bmp085_node.cpp

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//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC

// ROS headers
#include <ros/ros.h>
#include <ros/time.h>

#include <bmp085.hpp> 
#include <sub20_interface.hpp>
 
// ROS message
#include <bmp085_driver/bmp085_measurement.h>  


int main( int argc, char **argv )
{
  //ROS initialization and publisher/subscriber setup
  ros::init( argc, argv, "BMP085_node" );
  ros::NodeHandle nh;

  std::string hw_id;
  int publish_rate_Hz;


  // Get parameters from .launch file or parameter server, or take defaults
  nh.param<int>( "/bmp085_node/publish_rate_Hz", publish_rate_Hz, 10 );
  nh.param<std::string>( "/bmp085_node/hardware_id", hw_id, "0208" );

  Sub20Interface sub20( hw_id ); 
  BMP085 PressureSensor( &sub20 ); 

  // Apply any sensor settings that deviate from the default settings:
  //PressureSensor.setSamplingMode( BMP085Parameters::ULTRA_HIGH_RESOLUTION );

  // Initialize the Pressure Sensor:
  if( PressureSensor.initialize() == false )
  {
    ROS_ERROR( "BMP085 initialization failed." );
    return 1;
  }

  // Set up ROS message and publisher
  bmp085_driver::bmp085_measurement msg;
  ros::Publisher bmp085_pub = nh.advertise<bmp085_driver::bmp085_measurement>( "BMP085_data", 10 ); // buffer up to 10 messages of data.  
  
  //set loop rate for measurement polling
  ros::Rate loop_rate_Hz( publish_rate_Hz ); 
      
  // Run sensor node:
  while( nh.ok() )
  {
    // stuff message:
    msg.header.stamp = ros::Time::now();

    // take measurement; halt node if false.
    if( PressureSensor.takeMeasurement() == false )
    {
      ROS_ERROR( "BMP085 device failed to takeMeasurement()." );
      return 1;
    }
  
    msg.Temperature = PressureSensor.getTemperature();        
    msg.Pressure = PressureSensor.getPressure();              
    msg.Altitude = PressureSensor.getAltitude();
    bmp085_pub.publish( msg ); 
  
    ros::spinOnce();
    loop_rate_Hz.sleep();
  }
  
  ROS_WARN( "Closing BMP085 driver." );
  return 0;
}