.. _program_listing_file__tmp_ws_src_webots_ros2_webots_ros2_driver_include_webots_ros2_driver_plugins_static_Ros2Receiver.hpp:

Program Listing for File Ros2Receiver.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_webots_ros2_webots_ros2_driver_include_webots_ros2_driver_plugins_static_Ros2Receiver.hpp>` (``/tmp/ws/src/webots_ros2/webots_ros2_driver/include/webots_ros2_driver/plugins/static/Ros2Receiver.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #ifndef ROS2_RECEIVER_HPP
   #define ROS2_RECEIVER_HPP
   
   #include <webots_ros2_driver/WebotsNode.hpp>
   #include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
   
   #include <geometry_msgs/msg/vector3_stamped.hpp>
   #include <webots_ros2_msgs/msg/float_stamped.hpp>
   #include <webots_ros2_msgs/msg/string_stamped.hpp>
   
   namespace webots_ros2_driver {
     class Ros2Receiver : public Ros2SensorPlugin {
     public:
       void step() override;
       void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override;
   
     private:
       bool mustPublish();
       void publishData();
   
       // ROS2 topics
       rclcpp::Publisher<webots_ros2_msgs::msg::StringStamped>::SharedPtr mDataPublisher;
       webots_ros2_msgs::msg::StringStamped mDataMessage;
       rclcpp::Publisher<webots_ros2_msgs::msg::FloatStamped>::SharedPtr mSignalPublisher;
       webots_ros2_msgs::msg::FloatStamped mSignalMessage;
       rclcpp::Publisher<geometry_msgs::msg::Vector3Stamped>::SharedPtr mDirectionPublisher;
       geometry_msgs::msg::Vector3Stamped mDirectionMessage;
   
       // Device
       WbDeviceTag mReceiver;
       // Runtime vars
       std::string mDeviceName;
       int mDeviceChannel;
       bool mIsEnabled;
     };
   
   }  // namespace webots_ros2_driver
   
   #endif