
#ifndef SENDDATA_H
#define SENDDATA_H
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <mutex>
#include "uwb.h"
#include "align.h"



namespace uwb_slam{
    class Senddata
    {
        public:
        Senddata(){};
        void publishOdometry();
        void publishtf();
        void Run();

        public:
        std::shared_ptr<uwb_slam::Align> align_;
        std::mutex mMutexSend;

        private:
        ros::NodeHandle nh_;
        ros::Publisher position_pub_;
        tf2_ros::TransformBroadcaster broadcaster;
        nav_msgs::Odometry odom_imu_uwb_;//消息类型 发布融合uwb imu 里程计信息
        geometry_msgs::TransformStamped transformStamped;//坐标变换消息
        
    };

}

#endif