23 #ifndef XSENS_NODES__XSENS_COMMON_NODE_HPP_
24 #define XSENS_NODES__XSENS_COMMON_NODE_HPP_
29 #include "serial_driver/serial_driver_node.hpp"
42 using autoware::drivers::serial_driver::flow_control_t;
43 using autoware::drivers::serial_driver::parity_t;
44 using autoware::drivers::serial_driver::stop_bits_t;
46 template<
typename TranslatorT,
typename MessageT>
48 :
public serial_driver::SerialDriverNode<
49 XsensCommonNode<TranslatorT, MessageT>,
50 typename TranslatorT::Packet,
63 const std::string & node_name,
64 const std::string & device_name,
65 const typename autoware::drivers::serial_driver::SerialDriverNode<
XsensCommonNode<TranslatorT,
67 typename TranslatorT::Packet, MessageT>
68 ::SerialPortConfig & serial_port_config,
69 const std::string & frame_id,
70 const typename TranslatorT::Config & config)
72 typename TranslatorT::Packet, MessageT>(
86 const std::string & node_name,
87 const std::string & node_namespace =
"")
91 typename TranslatorT::Packet, MessageT>(
93 node_name, node_namespace),
97 m_frame_id(this->declare_parameter(
"frame_id").template get<std::string>().c_str())
107 const typename TranslatorT::Packet & pkt,
110 return m_translator.convert(pkt,
output);
120 TranslatorT m_translator;
122 const std::string m_frame_id;
124 std::vector<MessageT> m_imu;
131 #endif // XSENS_NODES__XSENS_COMMON_NODE_HPP_