Program Listing for File path_2d_publisher.hpp
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#ifndef FUSE_PUBLISHERS__PATH_2D_PUBLISHER_HPP_
#define FUSE_PUBLISHERS__PATH_2D_PUBLISHER_HPP_
#include <string>
#include <fuse_core/async_publisher.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_core/uuid.hpp>
#include <rclcpp/rclcpp.hpp>
#include <nav_msgs/msg/path.hpp>
#include <geometry_msgs/msg/pose_array.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
namespace fuse_publishers
{
class Path2DPublisher : public fuse_core::AsyncPublisher
{
public:
FUSE_SMART_PTR_DEFINITIONS(Path2DPublisher)
Path2DPublisher();
virtual ~Path2DPublisher() = default;
void initialize(
fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
const std::string & name) override;
void onInit() override;
void notifyCallback(
fuse_core::Transaction::ConstSharedPtr transaction,
fuse_core::Graph::ConstSharedPtr graph) override;
protected:
fuse_core::node_interfaces::NodeInterfaces<
fuse_core::node_interfaces::Base,
fuse_core::node_interfaces::Parameters,
fuse_core::node_interfaces::Topics,
fuse_core::node_interfaces::Waitables
> interfaces_;
fuse_core::UUID device_id_;
std::string frame_id_;
rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr path_publisher_;
rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr pose_array_publisher_;
};
} // namespace fuse_publishers
#endif // FUSE_PUBLISHERS__PATH_2D_PUBLISHER_HPP_