imu_transform_component.hpp

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#include <array>
#include <driver_msgs/msg/imu.hpp>
#include <localization_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_srvs/srv/trigger.hpp>
 
namespace localization::imu
{
 
class IMUTransform : public rclcpp::Node
{
private:
  rclcpp::Publisher<localization_msgs::msg::Odometry>::SharedPtr pub_;
  rclcpp::Subscription<driver_msgs::msg::IMU>::SharedPtr sub_;
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr srv_;
 
  std::array<double, 3> offset_angle;
  double roll = 0.0;
  double pitch = 0.0;
  double yaw = 0.0;
 
  void update_callback(const driver_msgs::msg::IMU::UniquePtr msg);
 
  void reset_callback(
    const std_srvs::srv::Trigger::Request::SharedPtr request,
    const std_srvs::srv::Trigger::Response::SharedPtr response);
 
public:
  explicit IMUTransform(const rclcpp::NodeOptions & options);
 
  void reset();
};
 
}  // namespace localization::imu