Program Listing for File imu.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef TURTLEBOT3_NODE__SENSORS__IMU_HPP_
#define TURTLEBOT3_NODE__SENSORS__IMU_HPP_
#include <memory>
#include <string>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>
#include "turtlebot3_node/sensors/sensors.hpp"
namespace robotis
{
namespace turtlebot3
{
namespace sensors
{
class Imu : public Sensors
{
public:
explicit Imu(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & imu_topic_name = "imu",
const std::string & mag_topic_name = "magnetic_field",
const std::string & frame_id = "imu_link");
void publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) override;
private:
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr mag_pub_;
};
} // namespace sensors
} // namespace turtlebot3
} // namespace robotis
#endif // TURTLEBOT3_NODE__SENSORS__IMU_HPP_