Program Listing for File pose_2d_publisher.hpp
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#ifndef FUSE_PUBLISHERS__POSE_2D_PUBLISHER_HPP_
#define FUSE_PUBLISHERS__POSE_2D_PUBLISHER_HPP_
#include <tf2/utils.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>
#include <memory>
#include <string>
#include <fuse_publishers/stamped_variable_synchronizer.hpp>
#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 <fuse_variables/orientation_2d_stamped.hpp>
#include <fuse_variables/position_2d_stamped.hpp>
#include <pluginlib/class_list_macros.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <rclcpp/rclcpp.hpp>
namespace fuse_publishers
{
class Pose2DPublisher : public fuse_core::AsyncPublisher
{
public:
FUSE_SMART_PTR_DEFINITIONS(Pose2DPublisher)
Pose2DPublisher();
virtual ~Pose2DPublisher() = default;
void initialize(
fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
const std::string & name) override;
void onInit() override;
void onStart() override;
void onStop() override;
void notifyCallback(
fuse_core::Transaction::ConstSharedPtr transaction,
fuse_core::Graph::ConstSharedPtr graph) override;
void tfPublishTimerCallback();
protected:
fuse_core::node_interfaces::NodeInterfaces<
fuse_core::node_interfaces::Base,
fuse_core::node_interfaces::Clock,
fuse_core::node_interfaces::Logging,
fuse_core::node_interfaces::Parameters,
fuse_core::node_interfaces::Timers,
fuse_core::node_interfaces::Topics,
fuse_core::node_interfaces::Waitables
> interfaces_;
using Synchronizer = StampedVariableSynchronizer<
fuse_variables::Orientation2DStamped,
fuse_variables::Position2DStamped>;
std::string base_frame_;
fuse_core::UUID device_id_;
rclcpp::Clock::SharedPtr clock_;
rclcpp::Logger logger_;
std::string map_frame_;
std::string odom_frame_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_publisher_;
rclcpp::Publisher<
geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_with_covariance_publisher_;
bool publish_to_tf_;
Synchronizer::UniquePtr synchronizer_;
std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
std::shared_ptr<tf2_ros::TransformBroadcaster> tf_publisher_ = nullptr;
rclcpp::TimerBase::SharedPtr tf_publish_timer_;
rclcpp::Duration tf_timeout_;
geometry_msgs::msg::TransformStamped tf_transform_;
bool use_tf_lookup_;
};
} // namespace fuse_publishers
#endif // FUSE_PUBLISHERS__POSE_2D_PUBLISHER_HPP_