Program Listing for File imu_ros_publisher.h

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/*******************************************************************************
 *   @file   imu_ros_publisher.h
 *   @brief  Header for IMU ros standard message publisher.
 *   @author Vasile Holonec (Vasile.Holonec@analog.com)
*******************************************************************************/
// Copyright 2023 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ADI_IMU__IMU_ROS_PUBLISHER_H_
#define ADI_IMU__IMU_ROS_PUBLISHER_H_

#include <memory>
#include <rclcpp/rclcpp.hpp>

#include "adi_imu/imu_data_provider_interface.h"
#include "adi_imu/imu_ros_publisher_interface.h"

namespace adi_imu
{

class ImuRosPublisher : public ImuRosPublisherInterface
{
public:
  explicit ImuRosPublisher(std::shared_ptr<rclcpp::Node> & node);

  ~ImuRosPublisher();

  void setMessageProvider(ImuDataProviderInterface * dataProvider) override;

  void publish() override;

private:
  ImuDataProviderInterface * m_data_provider;

  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr m_publisher;

  sensor_msgs::msg::Imu m_message;
};

}  // namespace adi_imu

#endif  // ADI_IMU__IMU_ROS_PUBLISHER_H_