IMU_nwc_ros2: This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Imu. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nwc_ros2/Imu_nwc_ros2.h>

Inheritance diagram for Imu_nwc_ros2:

Public Member Functions
size_t	getNrOfThreeAxisLinearAccelerometers () const override
	Get the number of three axis linear accelerometers exposed by this device.

yarp::dev::MAS_status	getThreeAxisLinearAccelerometerStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisLinearAccelerometerName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisLinearAccelerometerFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisLinearAccelerometerMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the specified sensor.

size_t	getNrOfThreeAxisGyroscopes () const override
	Get the number of three axis gyroscopes exposed by this sensor.

yarp::dev::MAS_status	getThreeAxisGyroscopeStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getThreeAxisGyroscopeName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getThreeAxisGyroscopeFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getThreeAxisGyroscopeMeasure (size_t sens_index, yarp::sig::Vector &out, double &timestamp) const override
	Get the last reading of the gyroscope.

size_t	getNrOfOrientationSensors () const override
	Get the number of orientation sensors exposed by this device.

yarp::dev::MAS_status	getOrientationSensorStatus (size_t sens_index) const override
	Get the status of the specified sensor.

bool	getOrientationSensorName (size_t sens_index, std::string &name) const override
	Get the name of the specified sensor.

bool	getOrientationSensorFrameName (size_t sens_index, std::string &frameName) const override
	Get the name of the frame of the specified sensor.

bool	getOrientationSensorMeasureAsRollPitchYaw (size_t sens_index, yarp::sig::Vector &rpy, double &timestamp) const override
	Get the last reading of the orientation sensor as roll pitch yaw.

Public Member Functions inherited from GenericSensor_nwc_ros2< sensor_msgs::msg::Imu >
	GenericSensor_nwc_ros2 ()

virtual	~GenericSensor_nwc_ros2 ()

bool	open (yarp::os::Searchable &params) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::IThreeAxisLinearAccelerometers
virtual	~IThreeAxisLinearAccelerometers ()

Public Member Functions inherited from yarp::dev::IThreeAxisGyroscopes
virtual	~IThreeAxisGyroscopes ()

Public Member Functions inherited from yarp::dev::IOrientationSensors
virtual	~IOrientationSensors ()

Protected Member Functions
void	subscription_callback (const std::shared_ptr< sensor_msgs::msg::Imu > msg) override

Protected Member Functions inherited from GenericSensor_nwc_ros2_ParamsParser
	GenericSensor_nwc_ros2_ParamsParser ()

	~GenericSensor_nwc_ros2_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Protected Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Additional Inherited Members
Protected Attributes inherited from GenericSensor_nwc_ros2< sensor_msgs::msg::Imu >
double	m_periodInS

double	m_timestamp

std::string	m_framename

Ros2Spinner *	m_spinner

const size_t	m_sens_index

std::mutex	m_dataMutex

yarp::dev::MAS_status	m_internalStatus

rclcpp::Node::SharedPtr	m_node

rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	m_subscription

Protected Attributes inherited from GenericSensor_nwc_ros2_ParamsParser
const std::string	m_device_classname = {"GenericSensor_nwc_ros2"}

const std::string	m_device_name = {"genericSensor_nwc_ros2"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_node_name_defaultValue = {""}

const std::string	m_topic_name_defaultValue = {""}

const std::string	m_sensor_name_defaultValue = {""}

std::string	m_node_name = {}

std::string	m_topic_name = {}

std::string	m_sensor_name = {}

Detailed Description

IMU_nwc_ros2: This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Imu.

YARP device name
`Imu_nwc_ros2`

The parameters accepted by this device are shown in class: GenericSensor_nwc_ros2_ParamsParser

Definition at line 26 of file Imu_nwc_ros2.h.

Member Function Documentation

◆ getNrOfOrientationSensors()

size_t Imu_nwc_ros2::getNrOfOrientationSensors ( ) const

overridevirtual

Get the number of orientation sensors exposed by this device.

Implements yarp::dev::IOrientationSensors.

Definition at line 196 of file Imu_nwc_ros2.cpp.

◆ getNrOfThreeAxisGyroscopes()

size_t Imu_nwc_ros2::getNrOfThreeAxisGyroscopes ( ) const

overridevirtual

Get the number of three axis gyroscopes exposed by this sensor.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 130 of file Imu_nwc_ros2.cpp.

◆ getNrOfThreeAxisLinearAccelerometers()

size_t Imu_nwc_ros2::getNrOfThreeAxisLinearAccelerometers ( ) const

overridevirtual

Get the number of three axis linear accelerometers exposed by this device.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 73 of file Imu_nwc_ros2.cpp.

◆ getOrientationSensorFrameName()

bool Imu_nwc_ros2::getOrientationSensorFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Note: This is an implementation specific method, that may return the name of the sensor frame in a scenegraph

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 181 of file Imu_nwc_ros2.cpp.

◆ getOrientationSensorMeasureAsRollPitchYaw()

bool Imu_nwc_ros2::getOrientationSensorMeasureAsRollPitchYaw	(	size_t	sens_index,
		yarp::sig::Vector &	rpy,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the orientation sensor as roll pitch yaw.

If $ f $ is the lab or surface fixed frame, and $ s $ is the sensor-fixed frame, this methods returns the angles $r \in [-180, 180] , p \in [-90, 90], y \in [-180, 180]$ such that

${}^f R_s = RotZ\left(\frac{\pi}{180}y\right)*RotY\left(\frac{\pi}{180}p\right)*RotX\left(\frac{\pi}{180}r\right)$

with

$RotZ(\theta) = \begin{bmatrix} \cos(\theta) & -\sin(\theta) & 0 \\ \sin(\theta) & \cos(\theta) & 0 \\ 0 & 0 & 1 \\ \end{bmatrix}$

,

$RotY(\theta) = \begin{bmatrix} \cos(\theta) & 0 & \sin(\theta) \\ 0 & 1 & 0 \\ -\sin(\theta) & 0 & \cos(\theta) \\ \end{bmatrix}$

and

$RotX(\theta) = \begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos(\theta) & - \sin(\theta) \\ 0 & \sin(\theta) & \cos(\theta) \\ \end{bmatrix}$

where ${}^f R_s \in \mathbb{R}^{3 \times 3}$ is the rotation that left-multiplied by a 3d column vector expressed in $ s $ it returns it expressed in $ f $ .

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfOrientationSensors()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees .
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 142 of file Imu_nwc_ros2.cpp.

◆ getOrientationSensorName()

bool Imu_nwc_ros2::getOrientationSensorName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IOrientationSensors.

Definition at line 173 of file Imu_nwc_ros2.cpp.

◆ getOrientationSensorStatus()

yarp::dev::MAS_status Imu_nwc_ros2::getOrientationSensorStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IOrientationSensors.

Definition at line 201 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisGyroscopeFrameName()

bool Imu_nwc_ros2::getThreeAxisGyroscopeFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 115 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisGyroscopeMeasure()

bool Imu_nwc_ros2::getThreeAxisGyroscopeMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the gyroscope.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in degrees/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 85 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisGyroscopeName()

bool Imu_nwc_ros2::getThreeAxisGyroscopeName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 107 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisGyroscopeStatus()

yarp::dev::MAS_status Imu_nwc_ros2::getThreeAxisGyroscopeStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Parameters

[in] sens_index The index of the specified sensor (should be between 0 and getNrOfThreeAxisGyroscopes()-1).

Implements yarp::dev::IThreeAxisGyroscopes.

Definition at line 135 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisLinearAccelerometerFrameName()

bool Imu_nwc_ros2::getThreeAxisLinearAccelerometerFrameName	(	size_t	sens_index,
		std::string &	frameName
	)		const

overridevirtual

Get the name of the frame of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 58 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisLinearAccelerometerMeasure()

bool Imu_nwc_ros2::getThreeAxisLinearAccelerometerMeasure	(	size_t	sens_index,
		yarp::sig::Vector &	out,
		double &	timestamp
	)		const

overridevirtual

Get the last reading of the specified sensor.

Parameters

[in]	sens_index	The index of the specified sensor (should be between 0 and getNrOfThreeAxisLinearAccelerometers()-1).
[out]	out	The requested measure. The vector should be 3-dimensional. The measure is expressed in meters^2/seconds.
[out]	timestamp	The timestamp of the requested measure, expressed in seconds.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 28 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisLinearAccelerometerName()

bool Imu_nwc_ros2::getThreeAxisLinearAccelerometerName	(	size_t	sens_index,
		std::string &	name
	)		const

overridevirtual

Get the name of the specified sensor.

Returns: false if an error occurred, true otherwise.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 50 of file Imu_nwc_ros2.cpp.

◆ getThreeAxisLinearAccelerometerStatus()

yarp::dev::MAS_status Imu_nwc_ros2::getThreeAxisLinearAccelerometerStatus ( size_t sens_index ) const

overridevirtual

Get the status of the specified sensor.

Implements yarp::dev::IThreeAxisLinearAccelerometers.

Definition at line 78 of file Imu_nwc_ros2.cpp.

◆ subscription_callback()

void Imu_nwc_ros2::subscription_callback ( const std::shared_ptr< sensor_msgs::msg::Imu > msg )

overrideprotectedvirtual

Implements GenericSensor_nwc_ros2< sensor_msgs::msg::Imu >.

Definition at line 20 of file Imu_nwc_ros2.cpp.

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

opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nwc_ros2/Imu_nwc_ros2.h
opt-modules/yarp-devices-ros2/src/devices/multipleAnalogSensors_nwc_ros2/Imu_nwc_ros2.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getNrOfOrientationSensors()

◆ getNrOfThreeAxisGyroscopes()

◆ getNrOfThreeAxisLinearAccelerometers()

◆ getOrientationSensorFrameName()

◆ getOrientationSensorMeasureAsRollPitchYaw()

◆ getOrientationSensorName()

◆ getOrientationSensorStatus()

◆ getThreeAxisGyroscopeFrameName()

◆ getThreeAxisGyroscopeMeasure()

◆ getThreeAxisGyroscopeName()

◆ getThreeAxisGyroscopeStatus()

◆ getThreeAxisLinearAccelerometerFrameName()

◆ getThreeAxisLinearAccelerometerMeasure()

◆ getThreeAxisLinearAccelerometerName()

◆ getThreeAxisLinearAccelerometerStatus()

◆ subscription_callback()