Method processMessage

rviz_imu_plugin/src/imu_display.cpp:169–225

}

void ImuDisplay::processMessage(const sensor_msgs::msg::Imu::ConstSharedPtr msg)
{
    if (!isEnabled()) return;

    ++messages_received_;

    std::stringstream ss;
    ss << messages_received_ << " messages received";
    setStatus(rviz_common::properties::StatusProperty::Ok, "Topic",
              ss.str().c_str());

    Ogre::Quaternion orientation;
    Ogre::Vector3 position;
    if (!context_->getFrameManager()->getTransform(
            msg->header.frame_id, msg->header.stamp, position, orientation))
    {
        RVIZ_COMMON_LOG_ERROR_STREAM("Error transforming from frame '"
                                     << msg->header.frame_id << "' to frame '"
                                     << fixed_frame_.toStdString() << "'");
        return;
    }

    if (fixed_frame_orientation_)
    {
        /* Display IMU orientation is in the world-fixed frame. */
        Ogre::Vector3 unused;
        if (!context_->getFrameManager()->getTransform(
                context_->getFrameManager()->getFixedFrame(), msg->header.stamp,
                unused, orientation))
        {
            RVIZ_COMMON_LOG_ERROR_STREAM("Error getting fixed frame transform");
            return;
        }
    }

    if (box_enabled_)
    {
        box_visual_->setMessage(msg);
        box_visual_->setFramePosition(position);
        box_visual_->setFrameOrientation(orientation);
        box_visual_->show();
    }
    if (axes_enabled_)
    {
        axes_visual_->setMessage(msg);
        axes_visual_->setFramePosition(position);
        axes_visual_->setFrameOrientation(orientation);
        axes_visual_->show();
    }
    if (acc_enabled_)
    {
        acc_visual_->setMessage(msg);
        acc_visual_->setFramePosition(position);
        acc_visual_->setFrameOrientation(orientation);
        acc_visual_->show();
    }
}