Program Listing for File imu_ros_publisher.cpp

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/*******************************************************************************
 *   @file   imu_ros_publisher.cpp
 *   @brief  Implementation for standard ros imu data 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/imu_ros_publisher.h"

#include <chrono>
#include <thread>

namespace adi_imu
{

ImuRosPublisher::ImuRosPublisher(std::shared_ptr<rclcpp::Node> & node)
{
  m_node = node;
  m_publisher = node->create_publisher<sensor_msgs::msg::Imu>("imu", 10);
}

ImuRosPublisher::~ImuRosPublisher() { delete m_data_provider; }

void ImuRosPublisher::setMessageProvider(ImuDataProviderInterface * dataProvider)
{
  m_data_provider = dataProvider;
}

void ImuRosPublisher::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("imu_ros_publisher"), "error reading standard imu buffered data");
  }
}

}  // namespace adi_imu