Program Listing for File amcl.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 <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <smacc2/smacc.hpp>
namespace cl_nav2z
{
class Amcl : public smacc2::ISmaccComponent
{
public:
Amcl();
virtual ~Amcl();
std::string getName() const override;
void onInitialize() override;
void setInitialPose(const geometry_msgs::msg::PoseWithCovarianceStamped & initialpose);
private:
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr initalPosePub_;
};
} // namespace cl_nav2z