Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
MockIMUDriver.cpp
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2 * Copyright (C) 2020-2021 LEIDOS.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
5 * use this file except in compliance with the License. You may obtain a copy of
6 * the License at
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8 * http://www.apache.org/licenses/LICENSE-2.0
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15 */
16
18
19namespace mock_drivers
20{
21std::vector<DriverType> MockIMUDriver::getDriverTypes()
22{
23 return { DriverType::IMU };
24}
25
27{
28 return cav_msgs::DriverStatus::OPERATIONAL;
29}
30
32{
34}
35
37{
38 return 100; // 100 Hz as default spin rate to match expected imu data rate
39}
40
42{
43 // main driver publisher
44 addPassthroughPub<sensor_msgs::Imu>(bag_prefix_ + raw_data_topic_, raw_data_topic_, false, 10);
45
46 return 0;
47}
48
49} // namespace mock_drivers
Node class which connects to the ROS network.
const std::string bag_prefix_
Definition: MockDriver.h:63
MockDriverNode mock_driver_node_
Definition: MockDriver.h:59
std::vector< DriverType > getDriverTypes() override
Pure Virtual method which child classes must override that returns the list of all driver types that ...
unsigned int getRate() override
Pure virtual method that returns the desired operational rate of a child class.
const std::string raw_data_topic_
Definition: MockIMUDriver.h:28
int onRun() override
Pure virtual method which must be implemented by child classes. This method will be run once at start...
uint8_t getDriverStatus() override
Pure Virtual method. Returns an integer value which corresponds to the cav_msgs/DriverStatus enum fel...
MockIMUDriver(bool dummy=false)