Program Listing for File or_autoware_auto.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 <chrono>
#include "sm_autoware_avp/clients/autoware_client/cl_autoware.hpp"
#include "smacc2/smacc.hpp"
namespace sm_autoware_avp
{
class OrAutowareAuto : public smacc2::Orthogonal<OrAutowareAuto>
{
public:
void onInitialize() override
{
auto client = this->createClient<sm_autoware_avp::clients::ClAutoware>();
client->createNamedComponent<
smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseWithCovarianceStamped>>(
"initialPoseEstimation", "/localization/initialpose");
client->createNamedComponent<
smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseStamped>>(
"goalPose", "planning/goal_pose");
client->createNamedComponent<
smacc2::components::CpTopicSubscriber<geometry_msgs::msg::PoseWithCovarianceStamped>>(
"ndtPose", "/localization/ndt_pose");
}
};
} // namespace sm_autoware_avp