sem/5g_drone_ROS2
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add imu data to message

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Sem van der Hoeven
2023-04-20 11:50:24 +02:00
parent cedff67864
commit 16192c6c8b
1 changed files with 11 additions and 2 deletions
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13
src/object_detection/src/lidar_reader.cpp
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@@ -52,7 +52,7 @@ public:
: Node("lidar_reader")
{
publisher_ = this->create_publisher<object_detection::msg::LidarReading>("drone/object_detection", 10);
timer_ = this->create_wall_timer(500ms, std::bind(&LidarReader::timer_callback, this));
timer_ = this->create_wall_timer(500ms, std::bind(&LidarReader::read_lidar_data, this));
ITerarangerTowerEvo::ImuMode mode(ITerarangerTowerEvo::QuaternionLinearAcc);
@@ -75,11 +75,20 @@ public:
}
private:
void timer_callback()
void read_lidar_data()
{
//TODO publish message with all data from lidar
std::cout << "Distance = " << tower->getDistance() << std::endl;
std::cout << "IMU = " << tower->getImuData() << std::endl;
auto message = object_detection::msg::LidarReading msg;
ImuData imu_data = tower->getImuData();
for (size_t i = 0; i < imu_data.data.size(); i++)
{
msg.imu_data.push_back(imu_data.data[i]);
}
}
rclcpp::Publisher<object_detection::msg::LidarReading>::SharedPtr publisher_;