ros_utils.h

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#ifndef TOPOSENS_ECHO_DRIVER_ROS_UTILS_H
#define TOPOSENS_ECHO_DRIVER_ROS_UTILS_H

#include <sstream>
#include <string>

#include <geometry_msgs/TransformStamped.h>
#include <ros/ros.h>
#include <tf/tf.h>

#include <toposens/sensor_lib.h>

#include "toposens_msgs/TsScan.h"

namespace toposens_echo_driver
{
class RosParameters
{
public:
  RosParameters() = default;
  explicit RosParameters(ros::NodeHandle private_nh);

  [[nodiscard]] auto to_string() const -> std::string;

  std::string com_interface{}, can_device{}, uart_device{}, scans_topic{}, sensor_mode{},
      frame_id{}, target_frame{};
  double loop_rate_hz{}, temperature{};
  int transducer_volume{}, transducer_num_pulses{};

  const std::string transducer_volume_str{"transducer_volume"};
  const std::string transducer_num_pulses_str{"transducer_num_pulses"};
  const std::string temperature_str{"temperature"};

private:
  void load(ros::NodeHandle private_nh);
};

auto to_TsScan(const Sensor_Session_t* session_data, const RosParameters& params)
    -> toposens_msgs::TsScan;

auto getStaticTransformMsg(const ros::Time& t, const std::vector<float>& trans,
                           const tf::Quaternion& q, const std::string& from, const std::string& to)
    -> geometry_msgs::TransformStamped;
}  // namespace toposens_echo_driver

#endif  // TOPOSENS_ECHO_DRIVER_ROS_UTILS_H