19 #ifndef IMU_SENSOR_BROADCASTER__IMU_SENSOR_BROADCASTER_HPP_
20 #define IMU_SENSOR_BROADCASTER__IMU_SENSOR_BROADCASTER_HPP_
24 #include "controller_interface/controller_interface.hpp"
25 #include "imu_sensor_broadcaster/visibility_control.h"
27 #include "imu_sensor_broadcaster_parameters.hpp"
28 #include "rclcpp_lifecycle/state.hpp"
29 #include "realtime_tools/realtime_publisher.hpp"
30 #include "semantic_components/imu_sensor.hpp"
31 #include "sensor_msgs/msg/imu.hpp"
33 namespace imu_sensor_broadcaster
38 IMU_SENSOR_BROADCASTER_PUBLIC
41 IMU_SENSOR_BROADCASTER_PUBLIC
44 IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn
on_init()
override;
46 IMU_SENSOR_BROADCASTER_PUBLIC
47 controller_interface::CallbackReturn on_configure(
48 const rclcpp_lifecycle::State & previous_state)
override;
50 IMU_SENSOR_BROADCASTER_PUBLIC
51 controller_interface::CallbackReturn on_activate(
52 const rclcpp_lifecycle::State & previous_state)
override;
54 IMU_SENSOR_BROADCASTER_PUBLIC
55 controller_interface::CallbackReturn on_deactivate(
56 const rclcpp_lifecycle::State & previous_state)
override;
58 IMU_SENSOR_BROADCASTER_PUBLIC
59 controller_interface::return_type
update(
60 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
63 std::shared_ptr<ParamListener> param_listener_;
66 std::unique_ptr<semantic_components::IMUSensor> imu_sensor_;
69 rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr sensor_state_publisher_;
70 std::unique_ptr<StatePublisher> realtime_publisher_;
Definition: controller_interface.hpp:28
Definition: imu_sensor_broadcaster.hpp:36
IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
Definition: imu_sensor_broadcaster.cpp:113
IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration() const override
Get configuration for controller's required command interfaces.
Definition: imu_sensor_broadcaster.cpp:82
IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_init() override
Extending interface with initialization method which is individual for each controller.
Definition: imu_sensor_broadcaster.cpp:26
IMU_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration() const override
Get configuration for controller's required state interfaces.
Definition: imu_sensor_broadcaster.cpp:90
Configuring what command/state interfaces to claim.
Definition: controller_interface_base.hpp:58