Program Listing for File Ros2Emitter.hpp
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#ifndef ROS2_EMITTER_HPP
#define ROS2_EMITTER_HPP
#include <webots_ros2_driver/WebotsNode.hpp>
#include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
#include <webots_ros2_msgs/srv/emitter_send_string.hpp>
namespace webots_ros2_driver {
class Ros2Emitter : public Ros2SensorPlugin {
public:
void step() override;
void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> ¶meters) override;
private:
// ROS2 service
rclcpp::Service<webots_ros2_msgs::srv::EmitterSendString>::SharedPtr mSendService;
void send_callback(const std::shared_ptr<webots_ros2_msgs::srv::EmitterSendString::Request> request,
std::shared_ptr<webots_ros2_msgs::srv::EmitterSendString::Response> response);
// Device
WbDeviceTag mEmitter;
// Runtime vars
std::string mDeviceName;
int mDeviceChannel;
};
} // namespace webots_ros2_driver
#endif