Class BiasEstimateRos2

• Defined in File bias_estimate_node_ros2.hpp

Class Documentation

class BiasEstimateRos2

Class for Bias Estimate Service.

Public Functions

BiasEstimateRos2(const rclcpp::Node::SharedPtr &node)

Constructor for BiasEstimateRos2.

~BiasEstimateRos2()

Destructor for BiasEstimateRos2.

bool init(void)

Initializes pre-service call requirements Indicates if bias_estimate will run or not.

Returns:

Boolean if successful (true) or not (false)

bool biasEstimateCB(adrd2121_imu::srv::BiasEstimateCmd::Request::SharedPtr req, adrd2121_imu::srv::BiasEstimateCmd::Response::SharedPtr res)

Callback when /bias_estimate is called.

Parameters:

• req – [in] Request

• res – [in] Result

Returns:

Boolean if successful (true) or not (false)

bool checkStandStillDuration(rclcpp::Time standstill_start, double &duration_secs)

This checks the STANDSTILL duration of the IMU Also checks if it is valid for trigger_imu_glob_cmd call.

Parameters:

standstill_begin – [in] The start time of standstill

Returns:

Boolean if successful (true) or not (false)