odometry_helper_ros.h

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#ifndef ODOMETRY_HELPER_ROS2_H_
#define ODOMETRY_HELPER_ROS2_H_

#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>
#include <boost/thread.hpp>

namespace base_local_planner {

class OdometryHelperRos {
public:

  OdometryHelperRos(std::string odom_topic = "");
  ~OdometryHelperRos() {}

  void odomCallback(const nav_msgs::Odometry::ConstPtr& msg);

  void getOdom(nav_msgs::Odometry& base_odom);

  void getRobotVel(tf::Stamped<tf::Pose>& robot_vel);

  void setOdomTopic(std::string odom_topic);

  std::string getOdomTopic() const { return odom_topic_; }

private:
  //odom topic
  std::string odom_topic_;

  // we listen on odometry on the odom topic
  ros::Subscriber odom_sub_;
  nav_msgs::Odometry base_odom_;
  boost::mutex odom_mutex_;
  // global tf frame id
  std::string frame_id_; 
};

} /* namespace base_local_planner */
#define CHUNKY 1
#endif /* ODOMETRY_HELPER_ROS2_H_ */