roboligo::Imu Class Reference

IMU sensor connector that subscribes to sensor messages and manages IMU data. More...

#include <Imu.hpp>

Inheritance diagram for roboligo::Imu:

Collaboration diagram for roboligo::Imu:

Public Member Functions
void	callback (sensor_msgs::msg::Imu::SharedPtr msg)
	Callback function triggered when new IMU message is received.
	Imu (std::string new_name, std::string new_topic)
	Constructor for Imu sensor.
virtual	~Imu ()=default
	Virtual destructor.
Public Member Functions inherited from roboligo::Sensor
void	init (std::string new_name, std::string new_topic)
	Initializes the sensor with a name and topic.
	Sensor (std::string new_name, std::string new_topic)
	Constructor for Sensor.
virtual	~Sensor ()=default
	Virtual destructor.
Public Member Functions inherited from roboligo::Linker
interfaces::modes	get_mode ()
	Gets the current mode of the linker.
std::string	get_name ()
	Gets the linker name.
std::string	get_topic ()
	Gets the topic name.
bool	is_available (void)
	Checks if the linker is available.
bool	is_configured (void)
	Checks if the linker is configured.
	Linker ()
	Default constructor.
void	set_available (bool new_state)
	Sets the availability state.
void	set_configured (bool new_state)
	Sets the configuration state.
void	set_interface (std::string name_, std::string topic_name_)
	Configures the interface with name and topic.
void	set_mode (interfaces::modes new_mode)
	Sets the linker mode.
void	set_name (std::string new_name)
	Sets the linker name.
void	set_service (std::string new_name)
	Sets the service name.
void	set_topic (std::string new_name)
	Sets the topic name.
virtual	~Linker ()=default
	Virtual destructor.

Public Attributes
sensor_msgs::msg::Imu::SharedPtr	data
	Latest IMU data received from the subscriber.
rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	subscriber
	ROS 2 subscription handle for IMU messages.
Public Attributes inherited from roboligo::Linker
std::shared_ptr< interfaces::Interface >	interface
	Shared pointer to the interface object.
std::string	name {"linker"}
	Linker identifier name.
std::string	topic_name {"/interface"}
	Associated topic name.

Additional Inherited Members
Protected Member Functions inherited from roboligo::Sensor
void	initialize (std::string new_name, std::string new_topic)
	Protected initialization method.
Protected Attributes inherited from roboligo::Sensor
interfaces::modes	mode_ {interfaces::modes::SUBSCRIBER}
	The connection mode set to SUBSCRIBER for receiving sensor data.
Protected Attributes inherited from roboligo::Linker
bool	available_ {false}
	Availability flag.
bool	configured_ {false}
	Configuration state flag.
interfaces::modes	mode_
	Current operating mode.

Detailed Description

IMU sensor connector that subscribes to sensor messages and manages IMU data.

Provides an interface for receiving and storing IMU (Inertial Measurement Unit) data from ROS 2 topics.

Constructor & Destructor Documentation

Imu()

roboligo::Imu::Imu ( std::string new_name, std::string new_topic )

inline

Constructor for Imu sensor.

Parameters

new_name	Identifier name for the sensor.
new_topic	ROS 2 topic name to subscribe to.

~Imu()

virtual roboligo::Imu::~Imu ( )

virtualdefault

Virtual destructor.

Member Function Documentation

callback()

void roboligo::Imu::callback

(

sensor_msgs::msg::Imu::SharedPtr

msg

)

Callback function triggered when new IMU message is received.

Parameters

msg	Shared pointer to the received IMU message.

Member Data Documentation

data

sensor_msgs::msg::Imu::SharedPtr roboligo::Imu::data

Latest IMU data received from the subscriber.

subscriber

rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr roboligo::Imu::subscriber

ROS 2 subscription handle for IMU messages.

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

• roboligo_common/include/roboligo_common/connector/sensors/Imu.hpp
• roboligo_common/src/roboligo_common/connector/sensors/Imu.cpp