00001 #include "listener.h" 00002 00003 #include <std_msgs/String.h> 00004 #include <ros/package.h> 00005 #include <QtCore> 00006 00007 00008 Listener::Listener(ros::NodeHandle nodeHandle) 00009 { 00010 m_CurTiltAngleSubscriber = nodeHandle.subscribe( "cur_tilt_angle", 1, &Listener::curTiltAngleCallback, this ); 00011 m_CurTiltStatusSubscriber = nodeHandle.subscribe( "cur_tilt_status", 1, &Listener::curTiltStatusCallback, this ); 00012 } 00013 00014 00015 void Listener::curTiltAngleCallback(const std_msgs::Float64 msg) 00016 { 00017 m_TiltAngle = msg.data; 00018 } 00019 00020 void Listener::curTiltStatusCallback(const std_msgs::UInt8 msg) 00021 { 00022 m_TiltStatus = msg.data; 00023 } 00024 00025 void Listener::imuCallback(const sensor_msgs::ImuConstPtr& msg) 00026 { 00027 00028 m_Imu.x = msg->orientation.x; 00029 m_Imu.y = msg->orientation.y; 00030 m_Imu.z = msg->orientation.z; 00031 00032 } 00033