Program Listing for File accelgyrotemp_ros_publisher.cpp
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/*******************************************************************************
* @file accelgyrotemp_ros_publisher.cpp
* @brief Implementation 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.
#include "adi_imu/accelgyrotemp_ros_publisher.h"
#include <chrono>
#include <thread>
namespace adi_imu
{
AccelGyroTempRosPublisher::AccelGyroTempRosPublisher(std::shared_ptr<rclcpp::Node> & node)
{
m_node = node;
m_publisher = node->create_publisher<adi_imu::msg::AccelGyroTempData>("accelgyrotempdata", 10);
}
AccelGyroTempRosPublisher::~AccelGyroTempRosPublisher() { delete m_data_provider; }
void AccelGyroTempRosPublisher::setMessageProvider(
AccelGyroTempDataProviderInterface * dataProvider)
{
m_data_provider = dataProvider;
}
void AccelGyroTempRosPublisher::publish()
{
if (m_data_provider->getData(m_message)) {
if (!m_message.header.stamp.sec && !m_message.header.stamp.nanosec) {
rclcpp::Time now = m_node->get_clock()->now();
m_message.header.stamp = now;
}
m_publisher->publish(m_message);
} else {
RCLCPP_INFO(
rclcpp::get_logger("accelgyrotemp_ros_publisher"),
"error reading accelerometer, gyroscope and temperature buffered data");
}
}
} // namespace adi_imu