Program Listing for File cb_wait_transform.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// 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.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <tf2/transform_datatypes.h>
#include <tf2/utils.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
namespace cl_nav2z
{
class CbWaitTransform : public smacc2::SmaccAsyncClientBehavior
{
public:
CbWaitTransform(std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout);
virtual ~CbWaitTransform();
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
}
void onEntry() override;
protected:
// shared static listener
std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
std::shared_ptr<tf2_ros::TransformListener> tfListener_;
std::string targetFrame_;
std::string referenceFrame_;
rclcpp::Duration timeout_;
std::optional<tf2::Stamped<tf2::Transform>> result_;
};
} // namespace cl_nav2z