Program Listing for File velangtemp_ros_publisher.h

↰ Return to documentation for file (include/adi_imu/velangtemp_ros_publisher.h)

/*******************************************************************************
 *   @file   velangtemp_ros_publisher.h
 *   @brief  Header temperature, delta velocity and delta angle 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__VELANGTEMP_ROS_PUBLISHER_H_
#define ADI_IMU__VELANGTEMP_ROS_PUBLISHER_H_

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

#include "adi_imu/velangtemp_data_provider_interface.h"
#include "adi_imu/velangtemp_ros_publisher_interface.h"

namespace adi_imu
{

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

  ~VelAngTempRosPublisher();

  void setMessageProvider(VelAngTempDataProviderInterface * dataProvider) override;

  void publish() override;

private:
  VelAngTempDataProviderInterface * m_data_provider;

  rclcpp::Publisher<adi_imu::msg::VelAngTempData>::SharedPtr m_publisher;

  adi_imu::msg::VelAngTempData m_message;
};

}  // namespace adi_imu

#endif  // ADI_IMU__VELANGTEMP_ROS_PUBLISHER_H_