magneticfieldpublisher.h

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#ifndef MAGNETICFIELDPUBLISHER_H
#define MAGNETICFIELDPUBLISHER_H
 
#include "packetcallback.h"
#include <geometry_msgs/Vector3Stamped.h>
 
struct MagneticFieldPublisher : public PacketCallback
{
    ros::Publisher pub;
    std::string frame_id = DEFAULT_FRAME_ID;
 
    // double magnetic_field_variance[3];
 
    MagneticFieldPublisher(ros::NodeHandle &node)
    {
        int pub_queue_size = 5;
        ros::param::get("~publisher_queue_size", pub_queue_size);
        pub = node.advertise<geometry_msgs::Vector3Stamped>("imu/mag", pub_queue_size);
        // variance_from_stddev_param("~magnetic_field_stddev", magnetic_field_variance);
        ros::param::get("~frame_id", frame_id);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsCalibratedMagneticField())
        {
            // TODO: Use sensor_msgs::MagneticField
            // Problem: Sensor gives normalized magnetic field vector with unknown units
            geometry_msgs::Vector3Stamped msg;
 
            msg.header.stamp = timestamp;
            msg.header.frame_id = frame_id;
 
            XsVector mag = packet.calibratedMagneticField();
 
            msg.vector.x = mag[0];
            msg.vector.y = mag[1];
            msg.vector.z = mag[2];
 
            // msg.magnetic_field_covariance[0] = magnetic_field_variance[0];
            // msg.magnetic_field_covariance[4] = magnetic_field_variance[1];
            // msg.magnetic_field_covariance[8] = magnetic_field_variance[2];
 
            pub.publish(msg);
        }
    }
};
 
#endif