IMURotator Class Reference

Converts IMU data from NED to ENU frame for both D455 and D456 cameras. More...

Inheritance diagram for IMURotator:

Collaboration diagram for IMURotator:

Public Member Functions
	IMURotator ()
	Constructor for IMURotator. More...

Private Member Functions
void	d455_imu_callback (const sensor_msgs::msg::Imu::SharedPtr msg)
	Callback function for transforming and publishing D455 IMU data from NED to ENU frame. More...
void	d456_imu_callback (const sensor_msgs::msg::Imu::SharedPtr msg)
	Callback function for transforming and publishing D456 IMU data from NED to ENU frame. More...
void	transform_imu_data (const sensor_msgs::msg::Imu::SharedPtr msg, std::shared_ptr< sensor_msgs::msg::Imu > &transformed_msg)
	Transforms IMU data from NED to ENU frame. More...

Private Attributes
rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	d455_imu_subscriber_
rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	d456_imu_subscriber_
rclcpp::Publisher< sensor_msgs::msg::Imu >::SharedPtr	d455_imu_publisher_
rclcpp::Publisher< sensor_msgs::msg::Imu >::SharedPtr	d456_imu_publisher_

Detailed Description

Converts IMU data from NED to ENU frame for both D455 and D456 cameras.

Constructor & Destructor Documentation

IMURotator()

IMURotator::IMURotator ( )

inline

Constructor for IMURotator.

Member Function Documentation

d455_imu_callback()

void IMURotator::d455_imu_callback ( const sensor_msgs::msg::Imu::SharedPtr  msg )

inlineprivate

Callback function for transforming and publishing D455 IMU data from NED to ENU frame.

Parameters

msg	The received IMU message.

d456_imu_callback()

void IMURotator::d456_imu_callback ( const sensor_msgs::msg::Imu::SharedPtr  msg )

inlineprivate

Callback function for transforming and publishing D456 IMU data from NED to ENU frame.

Parameters

msg	The received IMU message.

transform_imu_data()

void IMURotator::transform_imu_data ( const sensor_msgs::msg::Imu::SharedPtr  msg, std::shared_ptr< sensor_msgs::msg::Imu > &  transformed_msg  )

inlineprivate

Transforms IMU data from NED to ENU frame.

Parameters

msg	The original IMU message.
transformed_msg	The transformed IMU message.

Member Data Documentation

d455_imu_publisher_

rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr IMURotator::d455_imu_publisher_

private

d455_imu_subscriber_

rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr IMURotator::d455_imu_subscriber_

private

d456_imu_publisher_

rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr IMURotator::d456_imu_publisher_

private

d456_imu_subscriber_

rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr IMURotator::d456_imu_subscriber_

private

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The documentation for this class was generated from the following file:

• /home/grayson/dev_ws/src/lunabot_ros/lunabot_util/src/imu_rotator.cpp