chrono::ros::ChROSIMUHandler Class Reference

Description

Combines the latest data of an accelerometer + gyroscope (+ magnetometer) handler into one sensor_msgs/msg/Imu.

The sub-handlers are registered with the manager separately (they tick and publish independently); this handler just reads their most recent extracted values. Set the sub-handlers' rate >= this handler's rate so their data is fresh.

#include <ChROSIMUHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions
	ChROSIMUHandler (double update_rate, const std::string &topic_name, const std::string &frame_id="imu")
virtual bool	Initialize (ChROSBridge &bridge) override
	Creates the Imu publisher.
void	SetAccelerometerHandler (std::shared_ptr< ChROSAccelerometerHandler > accel_handler)
	Set the accelerometer sub-handler (required). Its rate should be >= this handler's.
void	SetGyroscopeHandler (std::shared_ptr< ChROSGyroscopeHandler > gyro_handler)
	Set the gyroscope sub-handler (required). Its rate should be >= this handler's.
void	SetMagnetometerHandler (std::shared_ptr< ChROSMagnetometerHandler > mag_handler)
	Set the magnetometer sub-handler (required for presence, though its data is not packed).

Protected Member Functions
virtual void	Tick (double time) override
	Assembles one Imu message from the sub-handlers' latest values and publishes it.

Constructor & Destructor Documentation

ChROSIMUHandler()

chrono::ros::ChROSIMUHandler::ChROSIMUHandler	(	double	update_rate,
		const std::string &	topic_name,
		const std::string &	frame_id = "imu"
	)

Parameters

update_rate	publish rate (Hz, sim time); 0 = every step.
topic_name	Imu topic to publish on.
frame_id	header frame_id stamped into the message.

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The documentation for this class was generated from the following files:

• /builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSIMUHandler.h
• /builds/uwsbel/chrono/src/chrono_ros/handlers/sensor/ChROSIMUHandler.cpp