Program Listing for File ros_publisher_group.h
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/*******************************************************************************
* @file ros_publisher_group.h
* @brief Header for acceleration, gyroscope and temperature 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__ROS_PUBLISHER_GROUP_H_
#define ADI_IMU__ROS_PUBLISHER_GROUP_H_
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include "adi_imu/ros_publisher_group_interface.h"
namespace adi_imu
{
class RosPublisherGroup : public RosPublisherGroupInterface
{
public:
explicit RosPublisherGroup(std::shared_ptr<rclcpp::Node> & node);
~RosPublisherGroup();
void setAccelGyroTempRosPublisher(
AccelGyroTempRosPublisherInterface * accelGyroTempRosPublisher) override;
void setVelAngTempRosPublisher(VelAngTempRosPublisherInterface * velAngTempRosPublisher) override;
void setImuRosPublisher(ImuRosPublisherInterface * imuRosPublisher) override;
void setImuFullMeasuredDataRosPublisher(
ImuFullMeasuredDataRosPublisherInterface * imuFullMeasuredDataRosPublisher) override;
void setImuControlParameters(ImuControlParameters * imuControlParameters) override;
void run() override;
private:
AccelGyroTempRosPublisherInterface * m_accelGyroTempRosPublisher;
VelAngTempRosPublisherInterface * m_velAngTempRosPublisher;
ImuRosPublisherInterface * m_imuRosPublisher;
ImuFullMeasuredDataRosPublisherInterface * m_imuFullMeasuredDataRosPublisher;
ImuControlParameters * m_imuControlParameters;
};
} // namespace adi_imu
#endif // ADI_IMU__ROS_PUBLISHER_GROUP_H_