orientationpublisher.h

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#ifndef ORIENTATIONPUBLISHER_H
#define ORIENTATIONPUBLISHER_H
 
#include "packetcallback.h"
#include <geometry_msgs/QuaternionStamped.h>
 
struct OrientationPublisher : public PacketCallback
{
    ros::Publisher pub;
    std::string frame_id = DEFAULT_FRAME_ID;
 
 
    OrientationPublisher(ros::NodeHandle &node)
    {
        int pub_queue_size = 5;
        ros::param::get("~publisher_queue_size", pub_queue_size);
        pub = node.advertise<geometry_msgs::QuaternionStamped>("filter/quaternion", pub_queue_size);
        ros::param::get("~frame_id", frame_id);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsOrientation())
        {
            geometry_msgs::QuaternionStamped msg;
 
            msg.header.stamp = timestamp;
            msg.header.frame_id = frame_id;
 
            XsQuaternion q = packet.orientationQuaternion();
 
            msg.quaternion.w = q.w();
            msg.quaternion.x = q.x();
            msg.quaternion.y = q.y();
            msg.quaternion.z = q.z();
 
            pub.publish(msg);
        }
    }
};
 
#endif