Program Listing for File serialized_publisher.hpp
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#ifndef FUSE_PUBLISHERS__SERIALIZED_PUBLISHER_HPP_
#define FUSE_PUBLISHERS__SERIALIZED_PUBLISHER_HPP_
#include <string>
#include <fuse_core/async_publisher.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/throttled_callback.hpp>
#include <fuse_core/transaction.hpp>
#include <rclcpp/rclcpp.hpp>
#include <fuse_msgs/msg/serialized_graph.hpp>
#include <fuse_msgs/msg/serialized_transaction.hpp>
namespace fuse_publishers
{
class SerializedPublisher : public fuse_core::AsyncPublisher
{
public:
FUSE_SMART_PTR_DEFINITIONS(SerializedPublisher)
SerializedPublisher();
virtual ~SerializedPublisher() = 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::Clock,
fuse_core::node_interfaces::Logging,
fuse_core::node_interfaces::Parameters,
fuse_core::node_interfaces::Topics,
fuse_core::node_interfaces::Waitables
> interfaces_;
void graphPublisherCallback(
fuse_core::Graph::ConstSharedPtr graph,
const rclcpp::Time & stamp) const;
std::string frame_id_;
rclcpp::Publisher<fuse_msgs::msg::SerializedGraph>::SharedPtr graph_publisher_;
rclcpp::Publisher<fuse_msgs::msg::SerializedTransaction>::SharedPtr transaction_publisher_;
using GraphPublisherCallback =
std::function<void (fuse_core::Graph::ConstSharedPtr, const rclcpp::Time &)>;
using GraphPublisherThrottledCallback = fuse_core::ThrottledCallback<GraphPublisherCallback>;
GraphPublisherThrottledCallback graph_publisher_throttled_callback_;
};
} // namespace fuse_publishers
#endif // FUSE_PUBLISHERS__SERIALIZED_PUBLISHER_HPP_