publishers.h

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#ifndef LOCOMOTOR_PUBLISHERS_H
#define LOCOMOTOR_PUBLISHERS_H

#include <ros/ros.h>
#include <nav_2d_msgs/Path2D.h>
#include <nav_2d_msgs/Twist2DStamped.h>

namespace locomotor
{
enum class PathType { NO_PATH, PATH_3D, PATH_2D };
enum class TwistType { NO_TWIST, TWIST_3D, TWIST_2D, TWIST_2D_STAMPED };

class PathPublisher
{
public:
  explicit PathPublisher(ros::NodeHandle& nh);
  void publishPath(const nav_2d_msgs::Path2D& global_plan);
protected:
  PathType path_type_;
  ros::Publisher pub_;
  double global_plan_epsilon_;
};

class TwistPublisher
{
public:
  explicit TwistPublisher(ros::NodeHandle& nh);
  void publishTwist(const nav_2d_msgs::Twist2DStamped& command);
protected:
  TwistType twist_type_;
  ros::Publisher pub_;
};
}  // namespace locomotor

#endif  // LOCOMOTOR_PUBLISHERS_H