Program Listing for File Ros2Receiver.hpp
↰ Return to documentation for file (include/webots_ros2_driver/plugins/static/Ros2Receiver.hpp
)
#ifndef ROS2_RECEIVER_HPP
#define ROS2_RECEIVER_HPP
#include <webots_ros2_driver/WebotsNode.hpp>
#include <webots_ros2_driver/plugins/Ros2SensorPlugin.hpp>
#include <geometry_msgs/msg/vector3_stamped.hpp>
#include <webots_ros2_msgs/msg/float_stamped.hpp>
#include <webots_ros2_msgs/msg/string_stamped.hpp>
namespace webots_ros2_driver {
class Ros2Receiver : public Ros2SensorPlugin {
public:
void step() override;
void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> ¶meters) override;
private:
bool mustPublish();
void publishData();
// ROS2 topics
rclcpp::Publisher<webots_ros2_msgs::msg::StringStamped>::SharedPtr mDataPublisher;
webots_ros2_msgs::msg::StringStamped mDataMessage;
rclcpp::Publisher<webots_ros2_msgs::msg::FloatStamped>::SharedPtr mSignalPublisher;
webots_ros2_msgs::msg::FloatStamped mSignalMessage;
rclcpp::Publisher<geometry_msgs::msg::Vector3Stamped>::SharedPtr mDirectionPublisher;
geometry_msgs::msg::Vector3Stamped mDirectionMessage;
// Device
WbDeviceTag mReceiver;
// Runtime vars
std::string mDeviceName;
int mDeviceChannel;
bool mIsEnabled;
};
} // namespace webots_ros2_driver
#endif