virtual_object_handler.h

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#pragma once
 
#include "ensenso_camera/ros2/node_handle.h"
 
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2/LinearMath/Transform.h>
 
#include <atomic>
#include <thread>
#include <vector>
 
namespace ensenso_camera
{
class VirtualObjectHandler
{
public:
  VirtualObjectHandler(ensenso::ros::NodeHandle& nh, const std::string& filename, const std::string& objectsFrame,
                       const std::string& linkFrame, const std::string& markerTopic, double markerPublishRate);
  ~VirtualObjectHandler();
 
  void updateObjectLinks();
 
private:
  std::thread markerThread;                    
  std::atomic_bool stopMarkerThread{ false };  
 
  std::vector<tf2::Transform> originalTransforms;
 
  std::string objectsFrame;  
  std::string linkFrame;     
 
  tf2_ros::Buffer tfBuffer;
  tf2_ros::TransformListener tfListener{ tfBuffer };
};
}  // namespace ensenso_camera