Program Listing for File minimal_publisher.hpp

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// Copyright 2022 PickNik Inc.
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#pragma once

#include <rclcpp/rclcpp.hpp>
#include <rclcpp_components/register_node_macro.hpp>

#include <admittance_controller_parameters.hpp>

namespace admittance_controller {

class MinimalPublisher : public rclcpp::Node {
 public:
  MinimalPublisher(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());

 private:
  void timer_callback();

  rclcpp::TimerBase::SharedPtr timer_;
  std::shared_ptr<admittance_controller::ParamListener> param_listener_;
  admittance_controller::Params params_;
};

}  // namespace admittance_controller

RCLCPP_COMPONENTS_REGISTER_NODE(admittance_controller::MinimalPublisher)