#include <navX_ros_wrapper.h>

Public Member Functions
	navXROSWrapper (ros::NodeHandle nh, VMXPi vmx)
	Constructs the NavX object using the specified parameters. More...

	~navXROSWrapper ()
	Destructor for the NavX object. More...

bool	GetFirmwareVersion (vmxpi_ros::StringRes::Request &req, vmxpi_ros::StringRes::Response &res)
	Provides the ROS service to get the firmware version number currently executing on the NavX when this service is called on the get_ahrs_firmware_version server. More...

void	PubRollPitchYaw ()
	Provides a grouped publisher for roll, pitch, and yaw (-180 to 180 deg) to the navx/roll_pitch_yaw topic. More...

void	PubPitch ()
	Publishes the pitch readings from the NavX sensor to the navx/pitch topic. More...

void	PubRoll ()
	Publishes the roll readings from the NavX sensor to the navx/roll topic. More...

void	PubYaw ()
	Publishes the yaw readings (in degrees, from -180 to 180) from the NavX sensor to the navx/yaw topic. More...

void	PubAngle ()
	Publishes the continuous angle readings from the NavX sensor to the navx/pitch topic. More...

void	PubHeading ()
	Publishes the compass heading readings from the NavX sensor to the navx/heading topic. More...

void	PubLinearAccel ()
	Provides a grouped publisher for the linear acceleration in the X,Y, and Z axes to the navx/linear_accel topic. More...

void	PubLinAccelX ()
	Publishes the world linear acceleration in the X-axis (in G) to the navx/linear_accel/x. More...

void	PubLinAccelY ()
	Publishes the world linear acceleration in the Y-axis (in G) to the navx/linear_accel/y. More...

void	PubLinAccelZ ()
	Publishes the world linear acceleration in the Z-axis (in G) to the navx/linear_accel/z. More...

void	PubFusedHeading ()
	Publishes the fused (9-axis) heading in degrees (range 0-360) to the navx/fused_heading. This is the fusion of the yaw angle, the tilt corrected compass heading, and magnetic disturbance detection. More...

void	PubTimestamp ()
	Publishes the timestamp of the last sensor message reported from the NavX to the navx/last_sensor_timestamp. More...

void	PubQuaternion ()
	Provides a grouped publisher for the orientation quaternion axes (W, X, Y, Z) with respect to where the yaw angle was last "zeroed" to the navx/quaternion. More...

void	PubQuatX ()
	Publishes the real portion (X-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/x. More...

void	PubQuatY ()
	Publishes the real portion (X-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/y. More...

void	PubQuatZ ()
	Publishes the real portion (X-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/z. More...

void	PubQuatW ()
	Publishes the imaginary portion (W-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/w. More...

void	PubVelocity ()
	Provides a grouped publisher for velocity (in meters/sec) in the X, Y, and Z axes to the navx/velocity topic. More...

void	PubVelX ()
	Publishes the velocity (in meters/sec) in the X-axis to the navx/velocity/x. More...

void	PubVelY ()
	Publishes the velocity (in meters/sec) in the Y-axis to the navx/velocity/y. More...

void	PubVelZ ()
	Publishes the velocity (in meters/sec) in the Z-axis to the navx/velocity/z. More...

void	PubDisplacement ()
	Provides a grouped publisher for displacement (in meters) in the X, Y, and Z axes since reset_displacement service is called to the navx/displacement topic. More...

void	PubDisplaceX ()
	Publishes the displacement (in meters) in the X-axis to the navx/displacement/x topic since the reset_displacement service was last called. More...

void	PubDisplaceY ()
	Publishes the displacement (in meters) in the Y-axis to the navx/displacement/y topic since the reset_displacement service was last called. More...

void	PubDisplaceZ ()
	Publishes the displacement (in meters) in the Z-axis to the navx/displacement/z topic since the reset_displacement service was last called. More...

void	PubRawGyro ()
	Provides a grouped publisher for the gyro rotation rate (in degrees/sec) in the X, Y, and Z axes to the navx/raw_gyro topic. More...

void	PubRawGyroX ()
	Publishes the raw gyro rotation rate (in degrees/sec) in the X-axis to the navx/raw_gyro/x topic. More...

void	PubRawGyroY ()
	Publishes the raw gyro rotation rate (in degrees/sec) in the Y-axis to the navx/raw_gyro/y topic. More...

void	PubRawGyroZ ()
	Publishes the raw gyro rotation rate (in degrees/sec) in the X-axis to the navx/raw_gyro/z topic. More...

void	PubRawAccel ()
	Provides a grouped publisher for the raw acceleration rate (G) in the X, Y, and Z axes to the navx/raw_accel topic. More...

void	PubRawAccelX ()
	Publishes the raw acceleration rate (G) in the X-axis to the navx/raw_accel/x topic. More...

void	PubRawAccelY ()
	Publishes the raw acceleration rate (G) in the Y-axis to the navx/raw_accel/y topic. More...

void	PubRawAccelZ ()
	Publishes the raw acceleration rate (G) in the Z-axis to the navx/raw_accel/z topic. More...

void	PubRawMag ()
	Provides a grouped publishers to for the raw magnetometer readings (in µTesla) in the X, Y, and Z axes to the navx/raw_mag topic. More...

void	PubRawMagX ()
	Publishes the raw magnetometer readings (in µTesla) in the X-axis to the navx/raw_mag/x topic. More...

void	PubRawMagY ()
	Publishes the raw magnetometer readings (in µTesla) in the Y-axis to the navx/raw_mag/y topic. More...

void	PubRawMagZ ()
	Publishes the raw magnetometer readings (in µTesla) in the Z-axis to the navx/raw_mag/z topic. More...

void	PubPose ()

bool	GetUpdateRate (vmxpi_ros::IntRes::Request &req, vmxpi_ros::IntRes::Response &res)
	Provides the ROS service to access the update rate of the NavX. More...

bool	Reset (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	Provides the ROS service to zero the yaw angle. More...

bool	ResetDisplacement (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	Provides the ROS service to reset the displacement, meaning a new origin is set where this is invoked. More...

bool	IsCalibrating ()
	Returns TRUE if the NavX is currently performing gyro/accelerometer calibration. More...

bool	IsConnected ()
	Signifies whether the sensor is connected to the host computer. More...

bool	IsMoving ()
	Signifies whether the NavX is detecting motion based on the X and Y-axis world linear acceleration values. More...

bool	IsRotating ()
	Signifies whether the NavX is detecting motion about the Z-axis (yaw rotation). More...

bool	IsMagnDisturbance ()
	Signifies whether the value of the calibrated magnetic field strength for earth's magnetic field differs from the current magnetic field strength. More...

bool	IsMagCalibrated ()
	Signifies whether the magnetometer has been calibrated, this is done by the user. More...

void	Run_t ()
	Provides a method to call a thread of various Publishers of the NaxXROS library advertising sensor data to the ROS Master node. More...

Constructor & Destructor Documentation

◆ navXROSWrapper()

navXROSWrapper::navXROSWrapper	(	ros::NodeHandle *	nh,
		VMXPi *	vmx
	)

Constructs the NavX object using the specified parameters.

Parameters

nh	Internal reference to the ROS node that the program will use to interact with the ROS system.
vmx	VMX-pi parameter used to initialize the VMX-pi HAL.

◆ ~navXROSWrapper()

navXROSWrapper::~navXROSWrapper ( )

Destructor for the NavX object.

Member Function Documentation

◆ GetFirmwareVersion()

bool navXROSWrapper::GetFirmwareVersion	(	vmxpi_ros::StringRes::Request &	req,
		vmxpi_ros::StringRes::Response &	res
	)

Provides the ROS service to get the firmware version number currently executing on the NavX when this service is called on the get_ahrs_firmware_version server.

Parameters

req	Request service type defined in the StringRes.srv file.
res	Response service type defined in the StringRes.srv file.

Returns: TRUE after storing the firmware version data with the response service variable.

◆ GetUpdateRate()

bool navXROSWrapper::GetUpdateRate	(	vmxpi_ros::IntRes::Request &	req,
		vmxpi_ros::IntRes::Response &	res
	)

Provides the ROS service to access the update rate of the NavX.

Parameters

req	Request service type defined in the IntRes.srv file.
res	Response service type defined in the IntRes.srv file.

Returns: TRUE when the response service variable is loaded with the update rate data.

◆ IsCalibrating()

bool navXROSWrapper::IsCalibrating ( )

Returns TRUE if the NavX is currently performing gyro/accelerometer calibration.

NOTE: Automatic calibration takes place when the NavX is initially powered on, ensure the sensor is completely still with the Z-axis perpendicular to the earth.

Returns: TRUE if the NavX is currently performing gyro and accelerometer calibrations.

◆ IsConnected()

bool navXROSWrapper::IsConnected ( )

Signifies whether the sensor is connected to the host computer.

Returns: TRUE when communication with the NavX has recently occurred.

◆ IsMagCalibrated()

bool navXROSWrapper::IsMagCalibrated ( )

Signifies whether the magnetometer has been calibrated, this is done by the user.

Returns: TRUE is the magnetometer has been calibrated.

◆ IsMagnDisturbance()

bool navXROSWrapper::IsMagnDisturbance ( )

Signifies whether the value of the calibrated magnetic field strength for earth's magnetic field differs from the current magnetic field strength.

Returns: TRUE if magnetic disturbance is detected.

◆ IsMoving()

bool navXROSWrapper::IsMoving ( )

Signifies whether the NavX is detecting motion based on the X and Y-axis world linear acceleration values.

Returns: TRUE if motion is currently being detected.

◆ IsRotating()

bool navXROSWrapper::IsRotating ( )

Signifies whether the NavX is detecting motion about the Z-axis (yaw rotation).

Returns: TRUE if rotational motion is currently being detected.

◆ PubAngle()

void navXROSWrapper::PubAngle ( )

Publishes the continuous angle readings from the NavX sensor to the navx/pitch topic.

NOTE: This value is the total accumulated yaw angle, in other words its range is beyond 360 degrees.

◆ PubDisplacement()

void navXROSWrapper::PubDisplacement ( )

Provides a grouped publisher for displacement (in meters) in the X, Y, and Z axes since reset_displacement service is called to the navx/displacement topic.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as displacement measurements depend on the double-integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting displacement are not known to be accurate.

◆ PubDisplaceX()

void navXROSWrapper::PubDisplaceX ( )

Publishes the displacement (in meters) in the X-axis to the navx/displacement/x topic since the reset_displacement service was last called.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as displacement measurements depend on the double-integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting displacement are not known to be accurate.

◆ PubDisplaceY()

void navXROSWrapper::PubDisplaceY ( )

Publishes the displacement (in meters) in the Y-axis to the navx/displacement/y topic since the reset_displacement service was last called.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as displacement measurements depend on the double-integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting displacement are not known to be accurate.

◆ PubDisplaceZ()

void navXROSWrapper::PubDisplaceZ ( )

Publishes the displacement (in meters) in the Z-axis to the navx/displacement/z topic since the reset_displacement service was last called.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as displacement measurements depend on the double-integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting displacement are not known to be accurate.

◆ PubFusedHeading()

void navXROSWrapper::PubFusedHeading ( )

Publishes the fused (9-axis) heading in degrees (range 0-360) to the navx/fused_heading. This is the fusion of the yaw angle, the tilt corrected compass heading, and magnetic disturbance detection.

NOTE: Magnetometer calibration is required.

◆ PubHeading()

void navXROSWrapper::PubHeading ( )

Publishes the compass heading readings from the NavX sensor to the navx/heading topic.

◆ PubLinAccelX()

void navXROSWrapper::PubLinAccelX ( )

Publishes the world linear acceleration in the X-axis (in G) to the navx/linear_accel/x.

◆ PubLinAccelY()

void navXROSWrapper::PubLinAccelY ( )

Publishes the world linear acceleration in the Y-axis (in G) to the navx/linear_accel/y.

◆ PubLinAccelZ()

void navXROSWrapper::PubLinAccelZ ( )

Publishes the world linear acceleration in the Z-axis (in G) to the navx/linear_accel/z.

◆ PubLinearAccel()

void navXROSWrapper::PubLinearAccel ( )

Provides a grouped publisher for the linear acceleration in the X,Y, and Z axes to the navx/linear_accel topic.

◆ PubPitch()

void navXROSWrapper::PubPitch ( )

Publishes the pitch readings from the NavX sensor to the navx/pitch topic.

◆ PubPose()

void navXROSWrapper::PubPose ( )

Publishes the pose message, which is the combination of position and orientation data. The point position messages are composed using the GetDisplacement*() accessors while the orientation messages are loaded using the GetQuaternion*() accessors from the VMX-pi HAL.

◆ PubQuaternion()

void navXROSWrapper::PubQuaternion ( )

Provides a grouped publisher for the orientation quaternion axes (W, X, Y, Z) with respect to where the yaw angle was last "zeroed" to the navx/quaternion.

◆ PubQuatW()

void navXROSWrapper::PubQuatW ( )

Publishes the imaginary portion (W-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/w.

◆ PubQuatX()

void navXROSWrapper::PubQuatX ( )

Publishes the real portion (X-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/x.

◆ PubQuatY()

void navXROSWrapper::PubQuatY ( )

Publishes the real portion (X-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/y.

◆ PubQuatZ()

void navXROSWrapper::PubQuatZ ( )

Publishes the real portion (X-axis) of the orientation quaternion with respect to where the yaw angle was last "zeroed" to the navx/quaternion/z.

◆ PubRawAccel()

void navXROSWrapper::PubRawAccel ( )

Provides a grouped publisher for the raw acceleration rate (G) in the X, Y, and Z axes to the navx/raw_accel topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawAccelX()

void navXROSWrapper::PubRawAccelX ( )

Publishes the raw acceleration rate (G) in the X-axis to the navx/raw_accel/x topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawAccelY()

void navXROSWrapper::PubRawAccelY ( )

Publishes the raw acceleration rate (G) in the Y-axis to the navx/raw_accel/y topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawAccelZ()

void navXROSWrapper::PubRawAccelZ ( )

Publishes the raw acceleration rate (G) in the Z-axis to the navx/raw_accel/z topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawGyro()

void navXROSWrapper::PubRawGyro ( )

Provides a grouped publisher for the gyro rotation rate (in degrees/sec) in the X, Y, and Z axes to the navx/raw_gyro topic.

NOTE: This value is unprocessed, and should only be accessed by advanced users.

◆ PubRawGyroX()

void navXROSWrapper::PubRawGyroX ( )

Publishes the raw gyro rotation rate (in degrees/sec) in the X-axis to the navx/raw_gyro/x topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawGyroY()

void navXROSWrapper::PubRawGyroY ( )

Publishes the raw gyro rotation rate (in degrees/sec) in the Y-axis to the navx/raw_gyro/y topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawGyroZ()

void navXROSWrapper::PubRawGyroZ ( )

Publishes the raw gyro rotation rate (in degrees/sec) in the X-axis to the navx/raw_gyro/z topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawMag()

void navXROSWrapper::PubRawMag ( )

Provides a grouped publishers to for the raw magnetometer readings (in µTesla) in the X, Y, and Z axes to the navx/raw_mag topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawMagX()

void navXROSWrapper::PubRawMagX ( )

Publishes the raw magnetometer readings (in µTesla) in the X-axis to the navx/raw_mag/x topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawMagY()

void navXROSWrapper::PubRawMagY ( )

Publishes the raw magnetometer readings (in µTesla) in the Y-axis to the navx/raw_mag/y topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRawMagZ()

void navXROSWrapper::PubRawMagZ ( )

Publishes the raw magnetometer readings (in µTesla) in the Z-axis to the navx/raw_mag/z topic.

NOTE: This value is unprocessed sand should only be used by advanced users.

◆ PubRoll()

void navXROSWrapper::PubRoll ( )

Publishes the roll readings from the NavX sensor to the navx/roll topic.

◆ PubRollPitchYaw()

void navXROSWrapper::PubRollPitchYaw ( )

Provides a grouped publisher for roll, pitch, and yaw (-180 to 180 deg) to the navx/roll_pitch_yaw topic.

◆ PubTimestamp()

void navXROSWrapper::PubTimestamp ( )

Publishes the timestamp of the last sensor message reported from the NavX to the navx/last_sensor_timestamp.

◆ PubVelocity()

void navXROSWrapper::PubVelocity ( )

Provides a grouped publisher for velocity (in meters/sec) in the X, Y, and Z axes to the navx/velocity topic.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as velocity measurements depend on the integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting velocities are not known to be accurate.

◆ PubVelX()

void navXROSWrapper::PubVelX ( )

Publishes the velocity (in meters/sec) in the X-axis to the navx/velocity/x.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as velocity measurements depend on the integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting velocities are not known to be accurate.

◆ PubVelY()

void navXROSWrapper::PubVelY ( )

Publishes the velocity (in meters/sec) in the Y-axis to the navx/velocity/y.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as velocity measurements depend on the integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting velocities are not known to be accurate.

◆ PubVelZ()

void navXROSWrapper::PubVelZ ( )

Publishes the velocity (in meters/sec) in the Z-axis to the navx/velocity/z.

NOTE: The method in the VMX-pi HAL where this accessor is implemented is experimental as velocity measurements depend on the integration of linear acceleration reported by MEMS accelerometers. Unfortunately, acceleration values from the MEMS sensor yield "noisy" values, therefore the resulting velocities are not known to be accurate.

◆ PubYaw()

void navXROSWrapper::PubYaw ( )

Publishes the yaw readings (in degrees, from -180 to 180) from the NavX sensor to the navx/yaw topic.

◆ Reset()

bool navXROSWrapper::Reset	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Provides the ROS service to zero the yaw angle.

Parameters

req	Empty request service type defined in the ROS srv files.
res	Empty request service type defined in the ROS srv files.

Returns: TRUE when the yaw of the AHRS object providing access to VMX-pi IMU functionality is zeroed.

◆ ResetDisplacement()

bool navXROSWrapper::ResetDisplacement	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Provides the ROS service to reset the displacement, meaning a new origin is set where this is invoked.

Parameters

req	Empty request service type defined in the ROS srv files.
res	Empty response service type defined in the ROS srv files.

Returns: TRUE when the displacement of the AHRS object providing access to VMX-pi IMU functionality is zeroed.

◆ Run_t()

void navXROSWrapper::Run_t ( )

Provides a method to call a thread of various Publishers of the NaxXROS library advertising sensor data to the ROS Master node.

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

C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_navx/include/navX_ros_wrapper.h
C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_navx/src/navX_ros_wrapper.cpp

Public Member Functions

Constructor & Destructor Documentation

◆ navXROSWrapper()

◆ ~navXROSWrapper()

Member Function Documentation

◆ GetFirmwareVersion()

◆ GetUpdateRate()

◆ IsCalibrating()

◆ IsConnected()

◆ IsMagCalibrated()

◆ IsMagnDisturbance()

◆ IsMoving()

◆ IsRotating()

◆ PubAngle()

◆ PubDisplacement()

◆ PubDisplaceX()

◆ PubDisplaceY()

◆ PubDisplaceZ()

◆ PubFusedHeading()

◆ PubHeading()

◆ PubLinAccelX()

◆ PubLinAccelY()

◆ PubLinAccelZ()

◆ PubLinearAccel()

◆ PubPitch()

◆ PubPose()

◆ PubQuaternion()

◆ PubQuatW()

◆ PubQuatX()

◆ PubQuatY()

◆ PubQuatZ()

◆ PubRawAccel()

◆ PubRawAccelX()

◆ PubRawAccelY()

◆ PubRawAccelZ()

◆ PubRawGyro()

◆ PubRawGyroX()

◆ PubRawGyroY()

◆ PubRawGyroZ()

◆ PubRawMag()

◆ PubRawMagX()

◆ PubRawMagY()

◆ PubRawMagZ()

◆ PubRoll()

◆ PubRollPitchYaw()

◆ PubTimestamp()

◆ PubVelocity()

◆ PubVelX()

◆ PubVelY()

◆ PubVelZ()

◆ PubYaw()

◆ Reset()

◆ ResetDisplacement()

◆ Run_t()