Program Listing for File gzserver.hpp

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// Copyright 2025 Open Source Robotics Foundation
//
// 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 ROS_GZ_SIM__GZSERVER_HPP_
#define ROS_GZ_SIM__GZSERVER_HPP_

#include <gz/utils/ImplPtr.hh>
#include <rclcpp/node.hpp>

// ROS node that executes a gz-sim Server given a world SDF file or string.
namespace ros_gz_sim
{
class GzServer : public rclcpp::Node
{
public:
  // Class constructor.
  explicit GzServer(const rclcpp::NodeOptions & options);

public:
  // Class destructor.
  ~GzServer();

public:
  void OnStart();

private:
  GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
};
}  // namespace ros_gz_sim

#endif  // ROS_GZ_SIM__GZSERVER_HPP_