imu_driver.hpp

Go to the documentation of this file.

 
#ifndef _IMU_DRIVER_HPP
#define _IMU_DRIVER_HPP
 
#include <cstdint>
#include <driver_msgs/msg/imu.hpp>
#include <rclcpp/rclcpp.hpp>
#include <serial/serial.hpp>
#include <string>
#include <timer/timeout.hpp>
 
#include "imu_driver/g366.hpp"
 
namespace driver::imu_driver
{
 
class IMUDriver : public rclcpp::Node
{
public:
  IMUDriver();
 
  void hw_reset();
 
private:
  std::string portname;
  int baudrate;
  uint64_t timeout_ms;
 
  std::shared_ptr<timer::Timeout> timeout_;
  std::shared_ptr<g366::G366> g366_;
  // std::shared_ptr<g366::G366HWReseter> g366_hw_resetter_;
  rclcpp::Publisher<driver_msgs::msg::IMU>::SharedPtr pub_;
  rclcpp::TimerBase::SharedPtr timer_;
 
  void _setup();
  void _update();
};
 
}  // namespace driver::imu_driver
 
#endif