void initialize(UAS &uas_)
{
PluginBase::initialize(uas_);
double linear_stdev, angular_stdev, orientation_stdev, mag_stdev;
/**
* @warning A rotation from the aircraft-frame to the base_link frame is applied.
* Additionally, it is reported the orientation of the vehicle to describe the
* transformation from the ENU frame to the base_link frame (ENU <-> base_link).
* THIS ORIENTATION IS NOT THE SAME AS THAT REPORTED BY THE FCU (NED <-> aircraft).
*/
imu_nh.param<std::string>("frame_id", frame_id, "base_link");
imu_nh.param("linear_acceleration_stdev", linear_stdev, 0.0003); // check default by MPU6000 spec
imu_nh.param("angular_velocity_stdev", angular_stdev, 0.02 * (M_PI / 180.0)); // check default by MPU6000 spec
imu_nh.param("orientation_stdev", orientation_stdev, 1.0);
imu_nh.param("magnetic_stdev", mag_stdev, 0.0);
setup_covariance(linear_acceleration_cov, linear_stdev);
setup_covariance(angular_velocity_cov, angular_stdev);
setup_covariance(orientation_cov, orientation_stdev);
setup_covariance(magnetic_cov, mag_stdev);
setup_covariance(unk_orientation_cov, 0.0);
imu_pub = imu_nh.advertise<sensor_msgs::Imu>("data", 10);
magn_pub = imu_nh.advertise<sensor_msgs::MagneticField>("mag", 10);
temp_imu_pub = imu_nh.advertise<sensor_msgs::Temperature>("temperature_imu", 10);
temp_baro_pub = imu_nh.advertise<sensor_msgs::Temperature>("temperature_baro", 10);
static_press_pub = imu_nh.advertise<sensor_msgs::FluidPressure>("static_pressure", 10);
diff_press_pub = imu_nh.advertise<sensor_msgs::FluidPressure>("diff_pressure", 10);
imu_raw_pub = imu_nh.advertise<sensor_msgs::Imu>("data_raw", 10);
// Reset has_* flags on connection change
enable_connection_cb();
}
void initialize(UAS &uas_)
{
PluginBase::initialize(uas_);
rc_in_pub = rc_nh.advertise<mavros_msgs::RCIn>("in", 10);
rc_out_pub = rc_nh.advertise<mavros_msgs::RCOut>("out", 10);
override_sub = rc_nh.subscribe("override", 10, &RCIOPlugin::override_cb, this);
enable_connection_cb();
};
