imu.h
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1 
34 #ifndef MULTISENSE_ROS_IMU_H
35 #define MULTISENSE_ROS_IMU_H
36 
37 #include <boost/shared_ptr.hpp>
38 #include <boost/thread.hpp>
39 #include <ros/ros.h>
40 
41 #include <sensor_msgs/Imu.h>
42 #include <geometry_msgs/Vector3Stamped.h>
43 
44 #include <multisense_lib/MultiSenseChannel.hh>
45 
46 namespace multisense_ros {
47 
48 class Imu {
49 public:
50 
51  Imu(crl::multisense::Channel* driver, std::string tf_prefix);
52  ~Imu();
53 
54  void imuCallback(const crl::multisense::imu::Header& header);
55 
56 private:
57 
58  //
59  // CRL sensor API
60 
62 
63  //
64  // Driver nodes
65 
68 
69  //
70  // multisense_ros/RawImuData publishers
71 
75 
76  //
77  // sensor_msgs/Imu publisher
79 
80  //
81  // geometry_msgs/Vector3Stamped publishers
85 
86  //
87  // IMU message
88  sensor_msgs::Imu imu_message_;
89 
90  //
91  // Publish control
92 
93  boost::mutex sub_lock_;
95  void startStreams();
96  void stopStreams();
97 
98  //
99  // TF prefix and frame ID's
100  const std::string tf_prefix_;
101  const std::string accel_frameId_;
102  const std::string gyro_frameId_;
103  const std::string mag_frameId_;
104 
105 };
106 
107 }
108 
109 #endif
const std::string mag_frameId_
Definition: imu.h:103
ros::Publisher magnetometer_vector_pub_
Definition: imu.h:84
void imuCallback(const crl::multisense::imu::Header &header)
Definition: imu.cpp:174
const std::string accel_frameId_
Definition: imu.h:101
ros::Publisher imu_pub_
Definition: imu.h:78
sensor_msgs::Imu imu_message_
Definition: imu.h:88
int32_t total_subscribers_
Definition: imu.h:94
const std::string tf_prefix_
Definition: imu.h:100
boost::mutex sub_lock_
Definition: imu.h:93
ros::Publisher gyroscope_pub_
Definition: imu.h:73
ros::Publisher magnetometer_pub_
Definition: imu.h:74
void stopStreams()
Definition: imu.cpp:286
Imu(crl::multisense::Channel *driver, std::string tf_prefix)
Definition: imu.cpp:53
ros::Publisher accelerometer_vector_pub_
Definition: imu.h:82
void startStreams()
Definition: imu.cpp:271
const std::string gyro_frameId_
Definition: imu.h:102
ros::Publisher gyroscope_vector_pub_
Definition: imu.h:83
ros::Publisher accelerometer_pub_
Definition: imu.h:72
crl::multisense::Channel * driver_
Definition: imu.h:61
ros::NodeHandle imu_nh_
Definition: imu.h:67
ros::NodeHandle device_nh_
Definition: imu.h:66


multisense_ros
Author(s):
autogenerated on Wed Jan 8 2020 03:37:59