imu_myahrs_plus.orogen

name "imu_myahrs_plus"
# Optionally declare the version number
# version "0.1"

# If new data types need to be defined, they have to be put in a separate C++
# header, and this header will be loaded here
import_types_from "imu_myahrs_plusTypes.hpp"

# If this project uses data types that are defined in other oroGen projects,
# these projects should be imported there as well.
import_types_from "base"

# Declare a new task context (i.e., a component)
#
# The corresponding C++ class can be edited in tasks/Task.hpp and
# tasks/Task.cpp, and will be put in the imu_myahrs_plus namespace.
task_context "Task" do
    # This is the default from now on, and should not be removed. Rock will
    # transition to a setup where all components use a configuration step.
    needs_configuration

    #***************************
    #**** Driver Properties ****
    #***************************
    property('port', '/std/string', "/dev/ttyACM0").
        doc 'the device port'

    property('baudrate', 'int', 115200).
        doc 'Baud rate to open the serial com_port and debug_port.'

    property('source_frame', '/std/string').
        doc 'the name of the frame attached to the IMU'

    property('target_frame', '/std/string').
        doc 'the name of the world frame'

    #******************************
    #******* Input ports  *********
    #******************************

    #******************************
    #******* Output Ports *********
    #******************************
    output_port('inertial_sensors_out', '/base/samples/IMUSensors').
        doc 'provides timestamped IMUReading samples containing the calibrated sensor readings.'+
        'Calibrated values are temperature corrected as the device reports the values (linear acceleration and angular velocity).'

    output_port('compensated_sensors_out', '/base/samples/IMUSensors').
        doc 'provides timestamped IMUReading samples containing the calibrated and compensated sensor readings depending whether the attutide filter is running'+
        'Compensated values are Earth gravity/rotation and bias compensated angular velocity and linear acceleration from the filter.'

    output_port('orientation_samples_out', '/base/samples/RigidBodyState').
        doc 'provides timestamped IMU orientation samples containing the quaternion.'

    periodic(0.01).
        doc 'The maximum data rate is 100 Hertz which correspond to 0.01 seconds'
end