.. _program_listing_file__tmp_ws_src_imu_pipeline_imu_transformer_include_imu_transformer_imu_transformer.hpp:

Program Listing for File imu_transformer.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_imu_pipeline_imu_transformer_include_imu_transformer_imu_transformer.hpp>` (``/tmp/ws/src/imu_pipeline/imu_transformer/include/imu_transformer/imu_transformer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef IMU_TRANSFORMER_IMU_TRANSFORMER_HPP
   #define IMU_TRANSFORMER_IMU_TRANSFORMER_HPP
   
   #include "rclcpp/rclcpp.hpp"
   #include "tf2_ros/buffer.h"
   #include "tf2_ros/create_timer_ros.h"
   #include "tf2_ros/transform_listener.h"
   #include "tf2_ros/message_filter.h"
   #include "sensor_msgs/msg/imu.hpp"
   #include "sensor_msgs/msg/magnetic_field.hpp"
   #include "message_filters/subscriber.h"
   
   #include <string>
   
   namespace imu_transformer
   {
     typedef sensor_msgs::msg::Imu ImuMsg;
     typedef sensor_msgs::msg::MagneticField MagMsg;
     typedef message_filters::Subscriber<ImuMsg> ImuSubscriber;
     typedef message_filters::Subscriber<MagMsg> MagSubscriber;
     typedef tf2_ros::MessageFilter<ImuMsg> ImuFilter;
     typedef tf2_ros::MessageFilter<MagMsg> MagFilter;
   
     class ImuTransformer : public rclcpp::Node
     {
   
     public:
       explicit ImuTransformer(const rclcpp::NodeOptions &);
       ~ImuTransformer();
   
     private:
   
       std::string target_frame_;
   
       std::unique_ptr<tf2_ros::Buffer> tf2_buffer_;
       std::unique_ptr<tf2_ros::TransformListener> tf2_listener_;
   
       ImuSubscriber imu_sub_;
       MagSubscriber mag_sub_;
   
       std::shared_ptr<ImuFilter> imu_filter_;
       std::shared_ptr<MagFilter> mag_filter_;
   
       rclcpp::Publisher<ImuMsg>::SharedPtr imu_pub_;
       rclcpp::Publisher<MagMsg>::SharedPtr mag_pub_;
   
       void imuCallback(const ImuMsg::SharedPtr &imu_in);
       void magCallback(const MagMsg::SharedPtr &msg);
       void failureCb(tf2_ros::filter_failure_reasons::FilterFailureReason reason);
   
     };
   
   }  // namespace imu_transformer
   
   #endif  // IMU_TRANSFORMER_IMU_TRANSFORMER_HPP