Class SbgDevice

• Defined in File sbg_device.h

Class Documentation

class SbgDevice

Class to handle a connected SBG device.

Public Functions

SbgDevice(rclcpp::Node &ref_node_handle)

Default constructor.

Parameters:

ref_node_handle – [in] ROS Node.

~SbgDevice()

Default destructor.

uint32_t getUpdateFrequency() const

Get the frequency to update the main rate loop for device handling.

Returns:

Device frequency to read the logs (in Hz).

void initDeviceForReceivingData()

Initialize the SBG device for receiving data.

Throws:

Unable – to initialize the SBG device.

void initDeviceForMagCalibration()

Initialize the device for magnetometers calibration.

void periodicHandle()

Periodic handle of the connected SBG device.