text: /*
   *  Copyright (C) 2010, CCNY Robotics Lab
   *  Ivan Dryanovski <ivan.dryanovski@gmail.com>
   *
   *  http://robotics.ccny.cuny.edu
   *
   *  Based on implementation of Madgwick's IMU and AHRS algorithms.
   *  http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
   *
   *
   *  This program is free software: you can redistribute it and/or modify
   *  it under the terms of the GNU General Public License as published by
   *  the Free Software Foundation, either version 3 of the License, or
   *  (at your option) any later version.
   *
   *  This program is distributed in the hope that it will be useful,
   *  but WITHOUT ANY WARRANTY; without even the implied warranty of
   *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   *  GNU General Public License for more details.
   *
   *  You should have received a copy of the GNU General Public License
   *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
   */
  
  #ifndef IMU_FILTER_MADWICK_IMU_FILTER_ROS_H
  #define IMU_FILTER_MADWICK_IMU_FILTER_ROS_H
  
  #include <ros/ros.h>
  #include <sensor_msgs/Imu.h>
  #include <sensor_msgs/MagneticField.h>
  #include <geometry_msgs/Vector3Stamped.h>
  #include "tf2_ros/transform_broadcaster.h"
  #include <message_filters/subscriber.h>
  #include <message_filters/synchronizer.h>
  #include <message_filters/sync_policies/approximate_time.h>
  #include <dynamic_reconfigure/server.h>
  
  #include "imu_filter_madgwick/imu_filter.h"
  #include "imu_filter_madgwick/ImuFilterMadgwickConfig.h"
  
  class ImuFilterRos
  {
    typedef sensor_msgs::Imu              ImuMsg;
    typedef sensor_msgs::MagneticField    MagMsg;
    typedef geometry_msgs::Vector3Stamped MagVectorMsg;
  
    typedef message_filters::sync_policies::ApproximateTime<ImuMsg, MagMsg> SyncPolicy;
    typedef message_filters::Synchronizer<SyncPolicy> Synchronizer;
    typedef message_filters::Subscriber<ImuMsg> ImuSubscriber;
    typedef message_filters::Subscriber<MagMsg> MagSubscriber;
    typedef message_filters::Subscriber<MagVectorMsg> MagVectorSubscriber;
  
    typedef imu_filter_madgwick::ImuFilterMadgwickConfig   FilterConfig;
    typedef dynamic_reconfigure::Server<FilterConfig>   FilterConfigServer;
  
    public:
  
      ImuFilterRos(ros::NodeHandle nh, ros::NodeHandle nh_private);
      virtual ~ImuFilterRos();
  
    private:
  
      // **** ROS-related
  
      ros::NodeHandle nh_;
      ros::NodeHandle nh_private_;
  
      boost::shared_ptr<ImuSubscriber> imu_subscriber_;
      boost::shared_ptr<MagSubscriber> mag_subscriber_;
      boost::shared_ptr<Synchronizer> sync_;
  
      // Adapter to support the use_magnetic_field_msg param.
      boost::shared_ptr<MagVectorSubscriber> vector_mag_subscriber_;
      ros::Publisher mag_republisher_;
  
      ros::Publisher rpy_filtered_debug_publisher_;
      ros::Publisher rpy_raw_debug_publisher_;
      ros::Publisher imu_publisher_;
      tf2_ros::TransformBroadcaster tf_broadcaster_;
  
      boost::shared_ptr<FilterConfigServer> config_server_;
      ros::Timer check_topics_timer_;
  
      // **** paramaters
      WorldFrame::WorldFrame world_frame_;
      bool use_mag_;
      bool zero_yaw_init_;
      bool use_magnetic_field_msg_;
      bool stateless_;
      bool publish_tf_;
      bool reverse_tf_;
      std::string fixed_frame_;
      std::string imu_frame_;
      double constant_dt_;
      bool publish_debug_topics_;
      bool remove_gravity_vector_;
      geometry_msgs::Vector3 mag_bias_;
      double orientation_variance_;
  
      // **** state variables
      boost::mutex mutex_;
      bool initialized_;
      ros::Time last_time_;
  
      // **** filter implementation
      ImuFilter filter_;
  
      // **** member functions
      void imuMagCallback(const ImuMsg::ConstPtr& imu_msg_raw,
                          const MagMsg::ConstPtr& mav_msg);
  
      void imuCallback(const ImuMsg::ConstPtr& imu_msg_raw);
  
      void imuMagVectorCallback(const MagVectorMsg::ConstPtr& mag_vector_msg);
  
      void publishFilteredMsg(const ImuMsg::ConstPtr& imu_msg_raw);
      void publishTransform(const ImuMsg::ConstPtr& imu_msg_raw);
  
      void publishRawMsg(const ros::Time& t,
                         float roll, float pitch, float yaw);
  
      void reconfigCallback(FilterConfig& config, uint32_t level);
      void checkTopicsTimerCallback(const ros::TimerEvent&);
  };
  
  #endif // IMU_FILTER_IMU_MADWICK_FILTER_ROS_H
  