Program Listing for File waypoints_visualizer.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/components/waypoints_navigator/waypoints_navigator.hpp>
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
namespace cl_nav2z
{
class ClNav2Z;
class CpWaypointsVisualizer : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable
{
public:
cl_nav2z::WaypointNavigator * waypointsNavigator_;
CpWaypointsVisualizer(rclcpp::Duration duration);
void onInitialize() override;
protected:
virtual void update() override;
private:
std::mutex m_mutex_;
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr markersPub_;
visualization_msgs::msg::MarkerArray markers_;
visualization_msgs::msg::MarkerArray markerLabels_;
void createMarker(const geometry_msgs::msg::Pose & waypoint, visualization_msgs::msg::Marker & m);
void createMarkerLabel(
const geometry_msgs::msg::Pose & waypoint, std::string label,
visualization_msgs::msg::Marker & m);
};
} // namespace cl_nav2z