imu_sensor_controller.h
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28 
30 
31 #ifndef IMU_SENSOR_CONTROLLER_IMU_SENSOR_CONTROLLER_H
32 #define IMU_SENSOR_CONTROLLER_IMU_SENSOR_CONTROLLER_H
33 
37 #include <sensor_msgs/Imu.h>
39 #include <boost/shared_ptr.hpp>
40 
42 {
43 
44 // this controller gets access to the ImuSensorInterface
45 class ImuSensorController: public controller_interface::Controller<hardware_interface::ImuSensorInterface>
46 {
47 public:
49 
50  virtual bool init(hardware_interface::ImuSensorInterface* hw, ros::NodeHandle &root_nh, ros::NodeHandle& controller_nh);
51  virtual void starting(const ros::Time& time);
52  virtual void update(const ros::Time& time, const ros::Duration& /*period*/);
53  virtual void stopping(const ros::Time& /*time*/);
54 
55 private:
56  std::vector<hardware_interface::ImuSensorHandle> sensors_;
58  std::vector<RtPublisherPtr> realtime_pubs_;
59  std::vector<ros::Time> last_publish_times_;
60  double publish_rate_;
61 };
62 
63 }
64 
65 #endif
virtual void update(const ros::Time &time, const ros::Duration &)
boost::shared_ptr< realtime_tools::RealtimePublisher< sensor_msgs::Imu > > RtPublisherPtr
virtual bool init(hardware_interface::ImuSensorInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
std::vector< RtPublisherPtr > realtime_pubs_
std::vector< hardware_interface::ImuSensorHandle > sensors_
virtual void starting(const ros::Time &time)


imu_sensor_controller
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Thu Apr 11 2019 03:08:32