imu_transformer_nodelet.h
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00001 #ifndef IMU_TRANSFORMER_IMU_TRANSFORMER_NODELET
00002 #define IMU_TRANSFORMER_IMU_TRANSFORMER_NODELET
00003 
00004 #include "ros/ros.h"
00005 #include "tf2_ros/buffer.h"
00006 #include "tf2_ros/transform_listener.h"
00007 #include "tf2_ros/message_filter.h"
00008 #include "sensor_msgs/Imu.h"
00009 #include "sensor_msgs/MagneticField.h"
00010 #include "nodelet/nodelet.h"
00011 #include "message_filters/subscriber.h"
00012 #include "topic_tools/shape_shifter.h"
00013 
00014 #include <string>
00015 
00016 namespace imu_transformer
00017 {
00018   typedef sensor_msgs::Imu ImuMsg;
00019   typedef sensor_msgs::MagneticField MagMsg;
00020   typedef message_filters::Subscriber<ImuMsg> ImuSubscriber;
00021 //  typedef message_filters::Subscriber<MagMsg> MagSubscriber;
00022   typedef message_filters::Subscriber<topic_tools::ShapeShifter> MagSubscriber;
00023   typedef tf2_ros::MessageFilter<ImuMsg> ImuFilter;
00024   typedef tf2_ros::MessageFilter<MagMsg> MagFilter;
00025 
00026   class ImuTransformerNodelet : public nodelet::Nodelet
00027   {
00028 
00029   public:
00030     ImuTransformerNodelet() {};
00031 
00032   private:
00033 
00034     std::string target_frame_;
00035 
00036     ros::NodeHandle nh_in_, nh_out_, private_nh_;
00037     boost::shared_ptr<tf2_ros::Buffer> tf2_;
00038     boost::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
00039 
00040     ImuSubscriber imu_sub_;
00041     MagSubscriber mag_sub_;
00042 
00043     boost::shared_ptr<ImuFilter> imu_filter_;
00044     boost::shared_ptr<MagFilter> mag_filter_;
00045 
00046     ros::Publisher imu_pub_, mag_pub_;
00047 
00048     virtual void onInit();
00049     void imuCallback(const ImuMsg::ConstPtr &imu_in);
00050 //    void magCallback(const MagMsg::ConstPtr &mag_in);
00051     void magCallback(const topic_tools::ShapeShifter::ConstPtr &msg);
00052     void failureCb(tf2_ros::filter_failure_reasons::FilterFailureReason reason);
00053 
00054   };
00055 
00056 }  // namespace imu_transformer
00057 
00058 #endif  // IMU_TRANSFORMER_IMU_TRANSFORMER_NODELET


imu_transformer
Author(s): Paul Bovbel
autogenerated on Sat Feb 2 2019 03:39:37