Add magnetic_field_sensor semantic component #2627
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bmagyar,
erickisos,
fmauch,
LukasMacha97,
mamueluth,
mhubii and
saikishor
saikishor
reviewed
Oct 7, 2025
Comment on lines
55
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| void update_data_from_interfaces() const | ||
| { | ||
| for (auto i = 0u; i < data_.size(); ++i) | ||
| { | ||
| const auto data = state_interfaces_[i].get().get_optional(); | ||
| if (data.has_value()) | ||
| { | ||
| data_[i] = data.value(); | ||
| } | ||
| } | ||
| } |
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Do we want to have this as const?
The function name itself does the contrary
| } | ||
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| // Array to store the data of the magnetic field sensor | ||
| mutable std::array<double, 3> data_{{0.0, 0.0, 0.0}}; |
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I don't think it's right that the only variable you have is mutable.
saikishor
reviewed
Oct 8, 2025
Comment on lines
39
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| bool get_values_as_message(sensor_msgs::msg::MagneticField & message) const | ||
| { | ||
| update_data_from_interfaces(); | ||
| message.magnetic_field.x = data_[0]; |
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Do we need it here too?
It is weird that it is compiling when calling a non const method from a const method
christophfroehlich
requested changes
Oct 8, 2025
christophfroehlich
requested changes
Oct 8, 2025
|
Thanks for the reviews! Everything is fixed except the release notes. I will fix them once #2646 is merged, to avoid merge conflicts. |
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Adds a new semantic component for magnetometers/
magnetic_field_sensors.I plan to add support for magnetometers to the imu_broadcaster (this will come with a
has_magnetometerparameter), as many IMUs have built-in magnetometers.Alongside this, I also plan on adding support for filtering to the broadcaster through the filters present in imu_tools.
Please review this PR and tell me if you are okay with the above.