Program Listing for File source.hpp
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// Copyright (c) 2022 Samsung R&D Institute Russia
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAV2_COLLISION_MONITOR__SOURCE_HPP_
#define NAV2_COLLISION_MONITOR__SOURCE_HPP_
#include <memory>
#include <vector>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "tf2/time.h"
#include "tf2_ros/buffer.h"
#include "nav2_collision_monitor/types.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "std_msgs/msg/header.hpp"
namespace nav2_collision_monitor
{
class Source
{
public:
Source(
const nav2_util::LifecycleNode::WeakPtr & node,
const std::string & source_name,
const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
const std::string & base_frame_id,
const std::string & global_frame_id,
const tf2::Duration & transform_tolerance,
const rclcpp::Duration & source_timeout,
const bool base_shift_correction);
virtual ~Source();
virtual bool getData(
const rclcpp::Time & curr_time,
std::vector<Point> & data) = 0;
bool getEnabled() const;
std::string getSourceName() const;
rclcpp::Duration getSourceTimeout() const;
protected:
bool configure();
void getCommonParameters(std::string & source_topic);
bool sourceValid(
const rclcpp::Time & source_time,
const rclcpp::Time & curr_time) const;
rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(
std::vector<rclcpp::Parameter> parameters);
bool getTransform(
const rclcpp::Time & curr_time,
const std_msgs::msg::Header & data_header,
tf2::Transform & tf_transform) const;
// ----- Variables -----
nav2_util::LifecycleNode::WeakPtr node_;
rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")};
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
// Basic parameters
std::string source_name_;
// Global variables
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::string base_frame_id_;
std::string global_frame_id_;
tf2::Duration transform_tolerance_;
rclcpp::Duration source_timeout_;
bool base_shift_correction_;
bool enabled_;
}; // class Source
} // namespace nav2_collision_monitor
#endif // NAV2_COLLISION_MONITOR__SOURCE_HPP_