ros2-assignments/doc/architecture/nodes/IMUDatabaseWriter.md

IMUDatabaseWriter (assignments::two::imu_database_writer)

The IMUDatabaseWriter node subscribes to IMU sensor data (sensor_msgs/msg/Imu) and saves published data into the PostgreSQL database via the DatabaseManager. It is a lightweight sink node intended record IMU measurements (linear acceleration and angular velocity) together with timestamps.

Implementation Details

Parameters

• No node-specific parameters are required by default. Database connection and table configuration are handled by DatabaseManager and the project's ConfigManager.

Constructor

IMUDatabaseWriter()

• Initializes ROS2 node with name imu_database_writer
• Creates DatabaseManager instance
• Creates a subscription to the imu_data topic using sensor_msgs::msg::Imu

Core Functionality

void imu_data_callback(const sensor_msgs::msg::Imu::SharedPtr msg)

• Primary callback invoked whenever an IMU message is received
• Forwards: linear acceleration (x, y, z) and angular velocity (x, y, z) to DatabaseManager::store_imu_data

ROS2 Interface

Subscriptions

• imu_data (sensor_msgs/msg/Imu)
  • Receives raw IMU samples.