#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Vector3Stamped.h>

Include dependency graph for imu_bias_remover.cpp:

Functions
bool	abslt (const double &val1, const double &val2)

double	accumulator_update (const double &alpha, const double &avg, const double &meas)

void	cmd_vel_callback (const geometry_msgs::TwistConstPtr &msg)

void	imu_callback (const sensor_msgs::ImuConstPtr &msg)

int	main (int argc, char **argv)

void	odom_callback (const nav_msgs::OdometryConstPtr &msg)

Variables
double	accumulator_alpha_

geometry_msgs::Vector3	angular_velocity_accumulator

ros::Publisher	bias_pub_

double	cmd_vel_threshold_

bool	odom_is_zero_

double	odom_threshold_

ros::Publisher	pub_

bool	twist_is_zero_

bool	use_cmd_vel_

bool	use_odom_

Function Documentation

◆ abslt()

bool abslt	(	const double &	val1,
		const double &	val2
	)

Definition at line 58 of file imu_bias_remover.cpp.

◆ accumulator_update()

double accumulator_update	(	const double &	alpha,
		const double &	avg,
		const double &	meas
	)

Definition at line 62 of file imu_bias_remover.cpp.

◆ cmd_vel_callback()

void cmd_vel_callback ( const geometry_msgs::TwistConstPtr & msg )

Definition at line 66 of file imu_bias_remover.cpp.

◆ imu_callback()

void imu_callback ( const sensor_msgs::ImuConstPtr & msg )

Definition at line 96 of file imu_bias_remover.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 123 of file imu_bias_remover.cpp.

◆ odom_callback()

void odom_callback ( const nav_msgs::OdometryConstPtr & msg )

Definition at line 81 of file imu_bias_remover.cpp.

Variable Documentation

◆ accumulator_alpha_

double accumulator_alpha_

Definition at line 54 of file imu_bias_remover.cpp.

◆ angular_velocity_accumulator

geometry_msgs::Vector3 angular_velocity_accumulator

Definition at line 55 of file imu_bias_remover.cpp.

◆ bias_pub_

ros::Publisher bias_pub_

Definition at line 42 of file imu_bias_remover.cpp.

◆ cmd_vel_threshold_

double cmd_vel_threshold_

Definition at line 50 of file imu_bias_remover.cpp.

◆ odom_is_zero_

bool odom_is_zero_

Definition at line 48 of file imu_bias_remover.cpp.

◆ odom_threshold_

double odom_threshold_

Definition at line 51 of file imu_bias_remover.cpp.

◆ pub_

ros::Publisher pub_

Definition at line 41 of file imu_bias_remover.cpp.

◆ twist_is_zero_

bool twist_is_zero_

Definition at line 47 of file imu_bias_remover.cpp.

◆ use_cmd_vel_

bool use_cmd_vel_

Definition at line 44 of file imu_bias_remover.cpp.

◆ use_odom_

bool use_odom_

Definition at line 45 of file imu_bias_remover.cpp.

Functions

Variables