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[PR] Implement IMU location approximator #15

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wessel merged 5 commits from 3-odometry/imu-position-approximator into 3-odometry/master 2025-11-28 20:07:09 +01:00
Conversation 1 Commits 5 Files Changed 16 +4 -4
2 changed files with 4 additions and 4 deletions
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4
src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.cpp
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@@ -23,12 +23,12 @@ IMUPositionApproximator::IMUPositionApproximator()
x_, y_, z_, theta_); x_, y_, z_, theta_);
imu_subscription_ = this->create_subscription<sensor_msgs::msg::Imu>( imu_subscriber_ = this->create_subscription<sensor_msgs::msg::Imu>(
imu_topic_, 10, imu_topic_, 10,
std::bind(&IMUPositionApproximator::imu_callback, this, std::placeholders::_1) std::bind(&IMUPositionApproximator::imu_callback, this, std::placeholders::_1)
); );
position_reset_subscription_ = this->create_subscription<geometry_msgs::msg::Pose2D>( position_reset_subscriber_ = this->create_subscription<geometry_msgs::msg::Pose2D>(
"position_reset", 10, "position_reset", 10,
std::bind(&IMUPositionApproximator::position_reset_callback, this, std::placeholders::_1) std::bind(&IMUPositionApproximator::position_reset_callback, this, std::placeholders::_1)
); );

4
src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.hpp
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@@ -18,8 +18,8 @@ public:
IMUPositionApproximator(); IMUPositionApproximator();
private: private:
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscription_; rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscriber_;
rclcpp::Subscription<geometry_msgs::msg::Pose2D>::SharedPtr position_reset_subscription_; rclcpp::Subscription<geometry_msgs::msg::Pose2D>::SharedPtr position_reset_subscriber_;
rclcpp::Publisher<geometry_msgs::msg::Pose2D>::SharedPtr position_publisher_; rclcpp::Publisher<geometry_msgs::msg::Pose2D>::SharedPtr position_publisher_;
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr velocity_publisher_; rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr velocity_publisher_;