From bfaec511eb336e238eb0c260dc3b7f260ea4fcd1 Mon Sep 17 00:00:00 2001
From: Paul D'Angio <pcdangio@gmail.com>
Date: Tue, 20 Oct 2020 19:08:26 -0400
Subject: [PATCH] updated to new imu message types from sensor_msgs_ext
---
src/ros_node.cpp | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/ros_node.cpp b/src/ros_node.cpp
index 670c2c9..4aa670a 100644
--- a/src/ros_node.cpp
+++ b/src/ros_node.cpp
@@ -1,8 +1,8 @@
#include "ros_node.h"
-#include <sensor_msgs_ext/accelerometer.h>
-#include <sensor_msgs_ext/gyroscope.h>
-#include <sensor_msgs_ext/magnetometer.h>
+#include <sensor_msgs_ext/acceleration.h>
+#include <sensor_msgs_ext/angular_velocity.h>
+#include <sensor_msgs_ext/magnetic_field.h>
#include <sensor_msgs_ext/temperature.h>
#include <cmath>
@@ -31,9 +31,9 @@ ros_node::ros_node(driver *driver, int argc, char **argv)
// Set up publishers.
- ros_node::m_publisher_accelerometer = ros_node::m_node->advertise<sensor_msgs_ext::accelerometer>("imu/accelerometer", 1);
- ros_node::m_publisher_gyroscope = ros_node::m_node->advertise<sensor_msgs_ext::gyroscope>("imu/gyroscope", 1);
- ros_node::m_publisher_magnetometer = ros_node::m_node->advertise<sensor_msgs_ext::magnetometer>("imu/magnetometer", 1);
+ ros_node::m_publisher_accelerometer = ros_node::m_node->advertise<sensor_msgs_ext::acceleration>("imu/accelerometer", 1);
+ ros_node::m_publisher_gyroscope = ros_node::m_node->advertise<sensor_msgs_ext::angular_velocity>("imu/gyroscope", 1);
+ ros_node::m_publisher_magnetometer = ros_node::m_node->advertise<sensor_msgs_ext::magnetic_field>("imu/magnetometer", 1);
ros_node::m_publisher_temperature = ros_node::m_node->advertise<sensor_msgs_ext::temperature>("imu/temperature", 1);
// Initialize the driver and set parameters.
@@ -92,7 +92,7 @@ void ros_node::deinitialize_driver()
void ros_node::data_callback(driver::data data)
{
// Create accelerometer message.
- sensor_msgs_ext::accelerometer message_accel;
+ sensor_msgs_ext::acceleration message_accel;
// Set accelerations (convert from g's to m/s^2)
message_accel.x = static_cast<double>(data.accel_x) * 9.80665;
message_accel.y = static_cast<double>(data.accel_y) * 9.80665;
@@ -101,7 +101,7 @@ void ros_node::data_callback(driver::data data)
ros_node::m_publisher_accelerometer.publish(message_accel);
// Create gyroscope message.
- sensor_msgs_ext::gyroscope message_gyro;
+ sensor_msgs_ext::angular_velocity message_gyro;
// Set rotation rates (convert from deg/sec to rad/sec)
message_gyro.x = static_cast<double>(data.gyro_x) * M_PI / 180.0;
message_gyro.y = static_cast<double>(data.gyro_y) * M_PI / 180.0;
@@ -113,7 +113,7 @@ void ros_node::data_callback(driver::data data)
if(isnan(data.magneto_x) == false)
{
// Create magneto message.
- sensor_msgs_ext::magnetometer message_mag;
+ sensor_msgs_ext::magnetic_field message_mag;
// Fill magnetic field strengths (convert from uT to T)
message_mag.x = static_cast<double>(data.magneto_x) * 0.000001;
message_mag.y = static_cast<double>(data.magneto_y) * 0.000001;
--
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