ros/src/bridge/src/to_trenz/bridge.cpp
/**
     * @brief Construct a new Bridge object
     * 
     * Create sender for IMU and PCL
     * 
     * Start Subscribers to Imu and PCL
     */
@brief Construct a new Bridge object

Create sender for IMU and PCL

Start Subscribers to Imu and PCL
@brief Construct a new Bridge object Create sender for IMU and PCL Start Subscribers to Imu and PCL
Bridge()
        : nh_{}
        , spinner_{3}
        , imu_sub_{}
        , pcl1_sub_{}
        , pcl2_sub_{}
        , imu_sender_{4444}
        , pcl_sender_{3333}
    {
        spinner_.start();
        imu_sub_ = nh_.subscribe<sensor_msgs::Imu>("/imu/data_raw", 1000, &Bridge::imu_callback, this);
        pcl1_sub_ = nh_.subscribe<sensor_msgs::PointCloud>("/velodyne_legacy", 1, &Bridge::pcl1_callback, this);
        pcl2_sub_ = nh_.subscribe<sensor_msgs::PointCloud2>("/velodyne_points", 1, &Bridge::pcl2_callback, this);
        ROS_INFO("to_trenz bridge initiated");
    }
Bridge ( ) : nh_ { } , spinner_ { 3 } , imu_sub_ { } , pcl1_sub_ { } , pcl2_sub_ { } , imu_sender_ { 4444 } , pcl_sender_ { 3333 } { spinner_ . start ( ) ; imu_sub_ = nh_ . subscribe < sensor_msgs :: Imu > ( " " , 1000 , & Bridge :: imu_callback , this ) ; pcl1_sub_ = nh_ . subscribe < sensor_msgs :: PointCloud > ( " " , 1 , & Bridge :: pcl1_callback , this ) ; pcl2_sub_ = nh_ . subscribe < sensor_msgs :: PointCloud2 > ( " " , 1 , & Bridge :: pcl2_callback , this ) ; ROS_INFO ( " " ) ; }
@brief Construct a new Bridge object
@brief Construct a new Bridge object