Program Listing for File imu_data_provider.cpp

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/*******************************************************************************
 *   @file   imu_ros_publisher.cpp
 *   @brief  Implementation for providing IMU ros standard data.
 *   @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/imu_data_provider.h"

#include <sensor_msgs/msg/imu.hpp>

namespace adi_imu
{

ImuDataProvider::ImuDataProvider() {}

ImuDataProvider::~ImuDataProvider() {}

bool ImuDataProvider::getData(sensor_msgs::msg::Imu & message)
{
  if (!m_iio_wrapper.updateBuffer(ACCEL_GYRO_BUFFERED_DATA)) return false;

  message.linear_acceleration.x = m_iio_wrapper.getBuffLinearAccelerationX();
  message.linear_acceleration.y = m_iio_wrapper.getBuffLinearAccelerationY();
  message.linear_acceleration.z = m_iio_wrapper.getBuffLinearAccelerationZ();

  message.angular_velocity.x = m_iio_wrapper.getBuffAngularVelocityX();
  message.angular_velocity.y = m_iio_wrapper.getBuffAngularVelocityY();
  message.angular_velocity.z = m_iio_wrapper.getBuffAngularVelocityZ();

  message.header.frame_id = "imu";
  m_iio_wrapper.getBuffSampleTimestamp(message.header.stamp.sec, message.header.stamp.nanosec);

  message.orientation_covariance[0] = -1;

  return true;
}

}  // namespace adi_imu