MSCEqFRos Class Reference

Public Member Functions
	MSCEqFRos (const ros::NodeHandle &nh, const std::string &msceqf_config_filepath, const std::string &imu_topic, const std::string &cam_topic, const std::string &pose_topic, const std::string &path_topic, const std::string &image_topic, const std::string &extrinsics_topic, const std::string &intrinsics_topic, const std::string &origin_topic, const bool &record, const std::string &bagfile)
	Constructor.
void	callback_image (const sensor_msgs::Image::ConstPtr &msg)
	Image callback.
void	callback_imu (const sensor_msgs::Imu::ConstPtr &msg)
	IMU callback.

Constructor & Destructor Documentation

MSCEqFRos()

MSCEqFRos::MSCEqFRos	(	const ros::NodeHandle &	nh,
		const std::string &	msceqf_config_filepath,
		const std::string &	imu_topic,
		const std::string &	cam_topic,
		const std::string &	pose_topic,
		const std::string &	path_topic,
		const std::string &	image_topic,
		const std::string &	extrinsics_topic,
		const std::string &	intrinsics_topic,
		const std::string &	origin_topic,
		const bool &	record,
		const std::string &	bagfile )

Constructor.

Parameters

Ros	ROS node handle
msceqf_config_filepath	Path of configuration yaml file for the msceqf
imu_topic	IMU topic
cam_topic	Camera topic
pose_topic	Pose topic
path_topic	Path topic
image_topic	Image topic
extrinsics_topic	Extrinsics topic
intrinsics_topic	Intrinsics topic
record	Flag to decide wether record a bagfile or not
bagfile	Bagfile name

Member Function Documentation

callback_image()

void MSCEqFRos::callback_image

(

const sensor_msgs::Image::ConstPtr &

msg

)

Image callback.

Parameters

Message

message constant pointer

callback_imu()

void MSCEqFRos::callback_imu

(

const sensor_msgs::Imu::ConstPtr &

msg

)

IMU callback.

Parameters

Message

message constant pointer

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

• wrappers/ros/ros1/include/msceqf_ros.hpp